Combine beer, milk, butter, sugar, and salt in a sauce pan and warm over low heat

Remove milk mixture from heat, add yeast, and set aside for 10 minutes

Add 2 cups of the flour to the bowl of a stand mixer fitted with a dough hook

Add milk mixture and eggs and turn mixer on low

Gradually add the rest of the flour and let the mixer knead it for another 8 - 10 minutes, until somewhat smooth and elastic

Turn out into a lightly floured surface and shape into a ball

Transfer to a lightly oiled or buttered bowl, turn dough to coat, cover with plastic wrap and let rise in a warm place for about 1 hour or until doubled in size

Punch dough down and divide in half, set aside and let rest for 10 - 15 minutes

Roll one of the halves into a (approximate) 15 x 8 rectangle

Brush 1/2 of the melted butter over the entire rectangle

Combine sugar and cinnamon and sprinkle half over entire rectangle

Roll up fairly tightly from the long side and turn so seam is on the bottom

With a sharp knife or a piece of string slice into 15 equally sized pieces

Transfer to buttered 9 in cake pan

Repeat with other half of dough, butter, and cinnamon sugar

Cover pans and let rise in a warm place for 30 - 45 minutes or until double in size

While rolls are rising, preheat oven to 375

Bake 20 - 25 minutes

Combine powdered sugar and milk to make a glaze and pour over cinnamon rolls

Serve warm or at room temperature