Add the warm water, sugar and yeast to the large bowl of a stand mixer. Slightly stir then allow to sit for 5 minutes. Check for bubbles. If it froths and bubbles then move onto the next step. If it doesn't, give it a bit longer. If it still doesn't you may need a new batch of yeast.
2 Cups Warm Water, 1-½ Tablespoons Active Dry Yeast, ⅓ Cup Granulated Sugar
Add the vegetable oil and salt to the yeast mixture and mix, using the dough hook, for 1 minute.
¼ Cups Vegetable Oil, 1-½ teaspoons Salt
Start to add the flour, little by little until totally incorporated. Allow the dough hook to work the dough on low speed for a minute or two.
6 Cups All Purpose Flour
Feel the dough, it should freely come away from the bowl and your fingers without being too sticky. Take the dough and sit on a piece of plastic wrap while you spray the bowl with cooking spray. Then put the dough back into the bowl.
Cover with a kitchen towel and allow to rise in a warm place for two hours (or until doubled in size).
Punch the dough down, then take half of the dough and roll out into a long rectangle on a well floured surface.
Take the melted butter and pour half of it over the rectangle, leaving the edges.
½ Cup Unsalted Butter
In another smaller mixing bowl add the brown sugar and cinnamon and mix with a whisk.
2 Cups Light Brown Sugar, 2 Tablespoons Ground Cinnamon
Sprinkle 1 cup sugar mixture on to the dough with the butter.
Press down slightly with your fingers, then roll the dough on the long side of the rectangle.
Taking a sharp knife cut the roll in half, then each half in half again, until you have 16 even slices (ish) - discard any end pieces.
Carefully lay the cinnamon roll slices in a greased 9x13" baking dish.
Pour ¼ Cup of warm evaporated milk all over the rolls. I actually use a spoon for this so that it's evenly poured.
½ Cup Evaporated Milk
Allow to sit for 30 minutes to rise again. Turn on your oven to 350°F to preheat.
Once the rolls have risen again pour the remaining ¼ cup warmed evaporated milk over the top and place in your preheated oven and bake for 20-25 minutes, until nicely golden brown.
Remove and allow to cool. While they're cooling mix your icing ingredients then spread all over the top of the rolls - while they're still a little warm.
½ Cup Unsalted Butter, 2 Cups Powdered Sugar, 1-½ teaspoons Vanilla Extract, 2 Tablespoons Evaporated Milk