Pour the warm milk and yeast into a large mixing bowl and stir in the yeast until just combined. Cover the mixture with a dish towel and allow it to sit until foamy (about five minutes).
Add the oil, flour, and one teaspoon of the cinnamon to the bowl fitted with a dough hook and mix until the dough starts to come away from the sides of the bowl.
Turn the dough onto a lightly floured surface and knead for 3 minutes to help work the yeast in the dough.
Place the dough back in the mixing bowl and cover with plastic wrap. Allow the dough to rise for 20 minutes, or until almost doubled in size.
Turn the dough back onto a floured surface and roll it out into a large rectangle about ¼ inch thick and DIMENSIONS. Combine the butter, brown sugar, and remaining cinnamon together in a bowl with a fork until it resembles sand and spread the mixture over the sheet of dough.
Use a rolling pin to roll the sheet of dough, jelly roll style so it resembles a long, thin roll. Cut the dough into 12 evenly sized discs.
Place the discs into a muffin tin greased with butter. Preheat the oven to 350 degrees and allow the cinnamon rolls to rest for an additional 20 minutes while the oven preheats.
Bake the cinnamon roll muffins for 20 minutes, or until the tops of the muffins begin to turn a light golden brown.
If you would like to top your muffins with cream cheese frosting, whisk together the cream cheese, vanilla, and powdered sugar until smooth and creamy.
Drizzle the top each muffin after they come out of the oven, serve, and enjoy!