In a small saucepan, heat milk and cinnamon sticks until milk starts to bubble around the edge of the pot.
Remove from heat.
Steep for 30 minutes.
Remove cinnamon sticks.
In the bowl of a stand mixer fitted with a dough hook, combine flour, sugar, yeast, salt, butter, eggs, and milk.
Mix on low speed 1-2 minutes to combine.
Increase speed to medium-high.
Continue to knead until dough is smooth and elastic, about 8-10 minutes.
Place in a covered container that has been sprayed with cooking spray.
Let rise at warm room temperature, or in a proofing box set to 78℉, until doubled in bulk, about 1½ hours. If using a proofing box, there is no need to cover the dough container.