Mix together the yeast, warm water and 1 teaspoon sugar in a small bowl. Set aside.
In a large bowl mix the 2/3 cup sugar, melted butter, warmed milk, eggs and salt. Mix well. Add in the yeast mixture that was set aside earlier.
Next, add half the flour and beat until smooth. For the remaining half of the flour stir in just enough until the dough is slightly stiff (it will be sticky).
Place the dough onto a well-flour counter top. For 7-10 minutes, knead the dough.
Place the dough in a well-buttered glass or plastic bowl. Cover the bowl and let rise in a warm place (we place a heating pad under the bowl, set on the middle setting). Let set for about 1 to 1 1/2 hours or until the dough has doubled in size.
When the dough has doubled in size, punch it down and then let it rest for 5 minutes.
Mark an area into a 15×20 inch rectangle. We use pieces of sticky notes.
Flour the 15×20 inch area and roll out the dough.
Spread the dough with 1/2 cup of the softened butter. Mix together the brown sugar, 1/2 cup of the white sugar and cinnamon. Sprinkle this over the buttered dough.
Next, roll up in a jelly-roll fashion and pinch the edge together to seal it. Cut into even slices with a serrated knife. Depending on how tight the log is pulled, you can get anywhere from 12-17 rolls.
Coat the bottom of a 13×9 inch and an 8 inch square pan with the remaining melted butter. Sprinkle with remaining 1/4 cup white sugar.
Place the sliced cinnamon rolls close together in the pans. Let the rolls rise in a warm place for about 45 minutes or until the rolls have doubled in bulk.
Preheat oven to 350F. Bake for 25-30 minutes or until the cinnamon rolls are nicely browned. Cool the cinnamon rolls for 10-15 minutes.
In a medium size bowl mix the melted butter, powdered sugar and vanilla extract. Add in the hot water 1 tablespoon at a time until the glaze reaches the desired thickness. Drizzle over the cinnamon rolls.