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In a large mixing bowl, dissolve the yeast in warm water with 2 tablespoons of sugar. Let sit for 5 minutes, or until frothy.
Add ½ cup softened butter, scalded milk, ½ cup sugar, and salt to the yeast mixture and mix well.
Add in the flour, 1 cup at a time, until a soft dough forms.
Knead the dough on a floured surface for 5-10 minutes, or until smooth and elastic.
Place the dough in a greased bowl, cover, and let rise for 1 hour, or until doubled in size.
Punch down the dough and roll it out into a 15x9-inch rectangle.
Spread the 3 tablespoons of melted butter over the dough.
Mix the brown sugar, cinnamon, and nuts (if using) and sprinkle over the dough.
Beginning on the long side, tightly roll the dough and pinch the edge to seal.
Cut the roll into 12 slices and place in a greased 9x13-inch baking dish.
Cover and let rise for another 30 minutes.
Bake at 350°F (175°C) for 20-25 minutes, or until golden brown.
While the rolls are baking, prepare the frosting by mixing 3 tablespoons softened butter, powdered sugar, 2 tablespoons melted butter, vanilla extract, and hot water in a bowl.
Spread the frosting over the warm cinnamon rolls and serve.