In a large mixing bowl, stir yeast and the 1 teaspoon sugar into the water. Let stand for 5 minutes to soften yeast.
Stir in milk, the 1/3 cup sugar, 1/4 cup melted butter, and salt. Add 1 cup of the flour. Beat with an electric mixer on low speed for 30 seconds, scraping bowl constantly. Beat on high speed for 3 minutes. Using a wooden spoon, gradually stir in 1-1/2 cups of the flour, beating until smooth. Stir in as much remaining flour as you can.
Turn dough out onto a lightly floured surface. Knead in enough of the remaining flour to make a moderately soft dough that's smooth and elastic (3 to 5 minutes total). Place in a lightly greased bowl, turning dough once to grease surface. Cover and let rise in a warm place until doubled (about 1 hour).
Punch dough down. Divide in half. Cover and let rest for 10 minutes. On a lightly floured surface with a lightly floured rolling pin, roll half of dough to a 15x10-inch rectangle.
Spread half of 1/4 cup melted butter over the top of the dough. Combine brown sugar and cinnamon. Sprinkle half of the mixture over top of dough. Beginning at a long side of the rectangle, roll up tightly; seal seams. Cut dough into nine 1-1/2-inch-thick slices. Repeat with remaining dough, butter and sugar mixture. Place the slices in 2 greased 9x1-1/2-inch round baking pans. Cover; let rise until doubled (45 minutes).
Bake the rolls in a 350 degree F oven for 20 to 25 minutes or until golden. Remove from oven. Transfer to wire racks. Immediately drizzle rolls with Powdered Sugar Glaze, if you like. Or cool and reheat to serve warm. Makes 18 rolls.
In a bowl, mix powdered sugar, milk, and vanilla. Stir in additional milk, if necessary, a teaspoon at a time, for a glaze.