Activate Yeast: Mix warm milk, sugar, and yeast in the mixer bowl. Let sit until foamy (5 mins).
Make Dough: Add the flour, salt, and melted butter. Knead with the dough hook until smooth and elastic (about 8–10 mins).
First Rise: Let the dough rise in a greased bowl in a warm spot until doubled (1.5 hours).
Shape: On a floured surface, roll the dough into a 12x18-inch rectangle. Cut it into 12–15 thick strips.
Coat: Dip each strip into the melted butter, then toss thoroughly in the cinnamon-sugar mix.
Arrange: Stack the coated dough strips vertically into two greased 9x5-inch loaf pans.
Second Rise: Let the loaves rise in the pans for 45 minutes.
Bake: Bake at 350°F (175°C) for 30–35 minutes, until the tops are deep golden brown and the sugar is bubbling.
Glaze: Whisk the confectioners' sugar and heavy cream. Drizzle over the loaves while they are still warm and serve immediately!