Warm milk gently, then mix with oil and sugar. Sprinkle yeast on top and let foam. Add flour and mix until dough forms. Cover and let rise until doubled. Roll dough into a rectangle. Spread butter, then sprinkle brown sugar and cinnamon. Roll tightly and slice. Place rolls in a baking dish and let rise again. Bake at 375°F until golden. Mix frosting ingredients and spread over warm rolls.
Notes
Let dough rise fully for the softest texture. Frost rolls while warm for best results.