To make the dough, combine milk, canola oil, and 1/2 cup sugar in a large saucepan. Heat it until very hot but not boiling. Turn off heat and allow to cool to warm (not at all hot.)
Sprinkle in the yeast and add 4 cups of flour. Stir to combine, then put lid on the pot and allow to rise for 1 hour. After 1 hour, stir in additional 1/2 cup flour, along with the baking powder, baking soda, and salt. If dough is overly sticky, stir in another 1/2 cup flour.
Place dough in the fridge for at least 1 hour to make it easier to work with.
Divide the dough into two pieces and work each piece separately. Roll out dough half onto a floured surface. Brush on the melted butter so that it covers all the dough. Mix together the sugar with the cinnamon and sprinkle it all over the surface of the dough. (Dough should look very covered.)
Cut the dough into 6 to 8 strips, then stack all the strips into one stack. Cut the stack of strips into 6 slices. Place the stacks sideways into a buttered bread pan. Do not cram the slices into the pan. (You may have a few leftover.) Repeat with other dough half.
A couple of buttered two cup ramekins will come in handy for the remainder pieces that won’t fit.
Cover with a dish towel and allow to rise for 20 minutes. Preheat oven to 350F. Place the pan in the oven and bake for 30 minutes, checking at 20 minutes to make sure it's not getting too brown on top. It's important to bake the bread long enough to ensure that the middle won't be too doughy, because if it is it won't pull apart easily. If the top looks like it's getting too brown, cover it lightly with aluminum foil for the rest of the baking time. REPEAT: IT'S IMPORTANT TO BAKE THE BREAD LONG ENOUGH FOR THE CENTER TO NO LONGER BE DOUGHY.
Remove the pan from the oven when it's done. Run a knife along the edges and take the bread out of the pan. Mix together the icing ingredients and drizzle over the top, allowing it to sink into the crevices. Serve warm or room temperature!
(Note: You can also do a cranberry-orange version with orange marmalade, brown sugar, and dried cranberries!)