In a small bowl, whisk together brown sugar and cinnamon. Set aside.

Combine yeast, water, milk, and sugar in a large bowl and set aside until foamy, about 10 minutes. Add salt, butter and flour, and stir with a wooden spoon until the dough comes together. Turn the dough out onto a lightly floured surface and knead until smooth and elastic, about 5 minutes.

Place the dough into a greased bowl and cover tightly with plastic wrap. Set aside in a warm, draft-free place until it doubles in size, about 1 hour.

Punch down the dough and roll out into a 9x12 inch rectangle. Sprinkle cinnamon sugar mixture evenly over dough, leaving a one-inch border from the edges.

Starting from the short side, roll dough tightly into a log and transfer to a lightly greased 9x5 inch loaf pan, seam side down and tucking the ends underneath if necessary. Cover and allow to rise until it doubles in size again, about 1 hour.

Preheat oven to 350F. Bake for 35-40 minutes or until golden brown. Let cool completely before slicing and serving.