In a small bowl, combine warm milk and active dry yeast, letting it sit for about 5 minutes until frothy.

In a large mixing bowl, whisk together the all-purpose flour, granulated sugar, and salt.

Add the yeast mixture and softened butter to the dry mixture. Mix until it forms a cohesive dough, then knead by hand or with a mixer for about 8-10 minutes.

Cover the dough with a clean cloth and place it in a warm area. Let it rise for about 1 hour until doubled in size.

Punch down the dough, then roll it out on a floured surface to a ½-inch thick rectangle.

Spread softened butter generously over the dough, then sprinkle with brown sugar and cinnamon. Optionally add nuts or raisins.

Tightly roll the dough into a log, starting from one edge. Use dental floss to slice it into equal pieces.

Place the cut rolls into a greased baking dish with space between them. Cover and let them rise for 30 minutes while the oven preheats to 350°F (175°C).

Bake the rolls for 25-30 minutes until golden brown.