For the Dough:

1. 1. In a large mixing bowl, combine warm milk and yeast. Let sit for about five minutes until frothy.
2. 2. Add melted butter, granulated sugar, and salt to the mixture. Gradually stir in flour until a soft dough forms.
3. 3. Turn the dough out onto a floured surface and knead for about five minutes until smooth.
4. 4. Place the dough in an oiled bowl, cover with a towel, and let it rise in a warm spot until doubled in size (about one hour).

For the Filling:

1. 5. While the dough rises, mix together brown sugar and cinnamon in a small bowl.

For Rolling and Baking:

1. 6. Once risen, punch down the dough and roll it into a rectangle on floured parchment paper.
2. 7. Spread melted butter over the surface of the dough and sprinkle evenly with the cinnamon-sugar mixture.
3. 8. Roll up tightly from one end to form a log shape; pinch seams closed. Cut into equal pieces (about two inches thick).
4. 9. Place rolls in a greased baking dish close together but not squished. Cover and let rise for another thirty minutes.
5. 10. Preheat oven to 350°F (175°C). Bake rolls for about twenty-five minutes or until golden brown.

For the Caramel Sauce:

1. 11. In a saucepan over medium heat, combine brown sugar, heavy cream, and salt. Stir until smooth and heated through.
2. 12. Drizzle warm caramel sauce over baked rolls before serving.