Dough:
4 tablespoons unsalted butter, divided, 2 tablespoons softened and 2 tablespoons melted
1 cup milk, warm (about 110 degrees F)
1/3 cup water, warm (about 110 degrees F)
¼ cup granulated sugar
1 package instant yeast
3¼ cups all-purpose flour, plus extra for work surface
2 teaspoons salt

Brown Sugar Coating:
1 cup light brown sugar
2 teaspoons ground cinnamon
8 tablespoons unsalted butter (1 stick), melted

Glaze:
1 cup confectioners' sugar
2 tablespoons milk

Directions here