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1. Stir together milk, oil, and 1/2 cup of granulated sugar in a large, heavy saucepan over medium high heat.
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2. Stir frequently until it is quite hot and bubbles form around the edge of the pan.
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3. Remove the pan from the heat and cool to lukewarm.
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4. When the milk mixture is lukewarm, sprinkle the yeast over it and let it sit, undisturbed, for 1 minute.
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5. Mix 4 cups of all-purpose flour into the milk and yeast mixture until there are no dry pockets of flour.
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6. Let rise for an hour in a warm, draft-free place.
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7. After an hour, stir in the baking soda, baking powder, salt and remaining 1/2 cup of flour until you have a cohesive dough.
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8. Place pan in the refrigerator, lightly covered with plastic wrap, for up to 2 days.
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To prepare the rolls:
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1. Line 4 cookie sheets (or half sheet pans) with parchment paper, silpats or teflon baking liners (or grease the pans generously.)
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2. Sprinkle a clean counter generously with flour.
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3. Turn the dough onto the counter and pat into a rectangle.
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4. Roll out into a long rectangle that is about 1/4-inch thick.
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5. Pour the melted butter evenly over the dough.
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6. Scatter the raw sugar evenly over the butter.
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7. Sprinkle the ground cinnamon evenly over the sugar.
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8. Starting at the edge closest to you, roll the dough tightly into a tube then pinch the seams to seal.
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9. Use a bench knife or other knife to cut the dough into 1-inch thick slices.
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10. Transfer each round to the prepared pans, being sure to leave 3-4 inches between each roll.
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11. Carefully insert a popsicle stick or caramel apple stick into the side of each slice of dough. Gently turn the stick a little from side to side while pushing further into the roll. The stick should go almost all the way through stopping just short of exiting the other side.
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12. Let rise for 30-40 minutes, or until puffy.
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13. Bake for 18-20 minutes in an oven preheated to 375u00b0F, or until the rolls are deep golden brown.
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14. Cool on pans for 15 minutes before transferring to racks to cool completely. (See notes.)
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15. When rolls are completely cool, whisk together the powdered sugar, warm milk, melted butter, and vanilla(s) until smooth. Serve the warm glaze with the cooled cinnamon rolls.
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Notes
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If you try to eat these off of the stick while still warm, they have a tendency to disintegrate. It's best to serve them completely cooled with warm glaze for dip.
