In the bowl of a stand mixer, blend 2 cups of the flour, salt, and yeast until well mixed. In a small saucepan, heat the milk to 115°F.
Add the milk, honey, butter, and egg to the flour mixture and beat on low speed until 1 minute and then on medium speed for another minute until smooth. Scrape down beater and sides of bowl, as needed. Cover the bowl with a towel and allow to sit for 10 minutes.
Stir in enough remaining flour on low speed adding 1/2 cup at a time until the dough begins to leave the sides of the bowl and hold its shape -- it may slump slightly, but is no longer sliding off the beater.
The dough will still be sticky and very soft at this point. Continue to mix with a dough hook for 3 minutes.
Using your hand, spread 2 tablespoons of oil on a clean counter or work surface in a 12 to 15 inch circle. Scrape the dough out of the mixing bowl onto the oiled counter. Once on the counter, the dough should hold its shape, but still relax a little.
Using oiled hands, fold the dough over onto itself 4 or 5 times. (A pastry knife can help lift and fold when the dough is sticky.) Cover with a large bowl and allow to rest 5 minutes.
Repeat the folding process 3 more times with a 5 minute rest, covered with the bowl, in between each session. You will need to oil your hands each time you handle the dough and you should notice the dough becoming more stable as it hydrates with each folding session.
Remove the dough from the counter and temporarily place in the bowl you used to cover it. Clean the counter with a dough scraper if needed.
Spread 2 more tablespoons of oil on the counter in an approximate 12x15-inch rectangle. With oiled hands, press the dough out over the oil then use a rolling pin to roll the dough to an even 1/2-inch thickness, approximately 12x15-inches.
In a small bowl, mix the coconut palm sugar and cinnamon. Brush the 1/4 cup melted butter evenly over the rolled out dough. Sprinkle evenly with the cinnamon-sugar up to the edge. From the 15-inch side, roll the dough into a tight log; pinch the seam closed.
Butter a 9x13-inch pan. Using a sharp knife, cut the roll into 15 (1-inch slices) slices, placing the slices in the pan about 1/4-inch apart. Cover with plastic wrap and allow to rise for 1 to 1 1/2 hours, until doubled in size.
Place the oven rack to the middle position in the oven and heat oven to 350°F. Remove plastic wrap and bake rolls 25 to 30 minutes until golden brown or an instant read thermometer reads 190°F in the center of the rolls.
Immediately remove rolls from pan by placing a cooling rack on top of the pan and flipping the rolls over on the rack. Use another rack to flip the rolls again, right side up. Cool 5 minutes on the rack.
For the Icing:
In a small bowl, stir glaze ingredients until smooth, adding the milk one tablespoon at a time until icing is thin enough to easily spread. Place the icing in a quart size zip-type bag and press toward a bottom corner.
Snip the corner with a pair of scissors and squeeze the icing out of the bag to pipe onto the warm rolls. Serve warm.
IMPORTANT: "Holds its shape" means the dough may still slump or spread slightly when placed on the counter, but isn't runny. This is important because once the dough can sit in a shaggy lump, only relaxing slightly, you can stop adding flour and switch to oil for handling the dough through the folding process. Through the folding and resting process, the dough will continue to hydrate and stabilize.More notes: Rolls can be frozen once completely cooled and iced. Defrost, then cover with foil and gently warm in the oven at 350°F for 15 minutes. Otherwise, leave uncovered and warm individual rolls a microwave for 20 seconds.