In a small bowl, stir together yeast, warm water and ½ teaspoon sugar. Set aside for 5 minutes to "proof". (If the mixture doesn't get foamy on top, either the yeast is bad or the water was too hot). For instant yeast, add yeast, water and sugar with everything in step 2.

In a stand mixer or large bowl add the yeast mixture, warm milk, sugar, melted butter, salt and egg. Add 2 cups of flour and mix until smooth. Add another cup of flour and mix or knead until combined. Continue kneading the dough for about 5 minutes, adding additional flour as or if needed to reach a soft dough that pulls away from the sides and bottom of the bowl and is not overly sticky, but very soft. Be careful not to add too much flour.

Place dough in a well-greased bowl, cover and let rise until doubled in volume, about 1 ½ hours. Meanwhile, butter a rimmed bakers half sheet (18x13'') or a 9x13'' pan. Set aside.

Dust a work surface lightly with flour, or spray with non-stick cooking spray. Punch down the risen dough and transfer to work surface. Roll it out into about a 20''x18'' rectangle.

Spread the 6 tablespoons of softened butter over the top of the dough. Mix sugar and cinnamon together, and then sprinkle over buttered dough, leaving ½ inch border. Sprinkle with walnuts, pecans, or raisins if desired.

Beginning on the 18-inch side, role up dough tightly into a log. Pinch the ends together to seal. Cut into 12 equal portioned pieces (about 1 ½ inches wide). A sharp serrated knife or a piece of floss work well to cut the dough.

Arrange rolls on prepared baking sheet and cover with plastic wrap (I like to spray the plastic wrap lightly with cooking spray first, so it doesn't stick to the dough). Allow the rolls to rise again for about an hour, until doubled in volume.

Preheat oven to 375 degrees F. Once risen, uncover rolls and bake for 18-22 minutes or until no longer doughy in the center.

While the cinnamon rolls bake, make the icing. Mix butter and powdered sugar together for several minutes. Mix in vanilla, and enough milk to reach a soft frosting consistency.

Spread icing over hot cinnamon rolls, right from the oven.