Place all ingredients in bread machine bowl - add ingredients in the recommended order of the manufacturer. Select "knead" cycle.
If using a stand mixer
In the bowl of a stand mixer add water, milk, sugar and yeast. Mix them with a fork. Let mixture rest for 5 minutes, until yeast is foamy. Add remaing ingredients and using a dough hook mix for 5 minutes on medium speed. Cover the bowl and let it rest until dough has doubled in size, around 40 minutes.
If kneading by hand
In a bowl place water, milk, sugar and yeast. Mix them with a fork. Let mixture rest for 5 minutes, until yeast is foamy. Add remaing ingredients and knead dough on lightly floured surface for 5 to 10 minutes, until dough is smooth. Place dough in a bowl and let it rest until dough has doubled in size, around 40 minutes.
To make rolls
When dough has risen preheat oven to 350F/180C.
In a small bowl mix brown sugar and cinnamon for the filling.
With a rolling pin, open dough on a floured surface into a rectangle of about 18inx20in (45cmx50cm). Spread melted butter over dough but leave 1 inch-2cm without any butter. Sprinkle brown sugar and cinnamon mixture evenly.
Starting with one long end, start rolling the rectangle into a log. Roll the seam to the bottom and cut into 16 slices (cut dough in half, then in half again, until you have 16 slices).
Place rolls in 2 greased 9-inch (23cm) round pans. Bake rolls for 20-25 minutes, until lightly golden.