In the bowl of a standing mixer, add warm water (between 95-105 degrees Fahrenheit), sugar, and yeast. Stir, and let sit for 5-10, or until frothy.
Add the oil, salt and about 3 cups of flour. Using the dough hook, mix on low for 1-2 minutes, or until the flour has all mixed in. Continue to add another 2 ½-3 cups of flour, mixing on low until the dough pulls away from the sides of the bowl. Mix for another 2 minutes on low, and add a little more flour if the dough feels sticky.
Once mixed, cover the bowl with a towel, and let the dough rest in a warm place for about 15 minutes.
Meanwhile, lightly spray two loaf pans with non-stick cooking spray.
Once your dough has rested, transfer to a lightly floured surface and separate into 2 equal pieces.
Using a rolling pin, gently roll each piece of dough into a rectangle that is roughly 14" x 10". Brush each rectangle with 2 tablespoons of the melted butter, then sprinkle each with ¼ cup brown sugar and a half tablespoon of cinnamon, making sure they are evenly spread.
Roll each log up starting at the longer end so you have 2 long rolls. Use a sharp knife and cut down the center of each roll so you have four long halves total. Take 2 halves and pinch the ends on one side together, then twist the dough together loosely. Gently lay the cinnamon twist into your prepared loaf pan, tucking both ends under. Repeat with the other two halves.
Preheat your oven to 350 degrees.
Cover both loaf pans with a kitchen towel, and let the dough rise in a warm place for 30-40 minutes, or until the dough has doubled.
Once they have doubled in size, bake for 20-25 minutes, or until the bread is golden brown and baked through. Remove the bread from the oven and let it cool for a few minutes before removing from the loaf pans. While still warm, drizzle cinnamon roll icing over the bread. Serve warm, or let the bread cool before slicing. Enjoy!