Combine yeast, sugar and water and whisk until yeast has dissolved. Cover the mixture and stand it in a warm place about 10 minutes or until the mixture is frothy.
Meanwhile, sift flour and salt into a large bowl. Add milk, butter and yeast mixture and mix until it forms a soft dough. Knead the dough on a floured surface for about 5 minutes then place in a well oiled bowl, covered for 1 hour or until it has almost doubled in size.
Line a baking dish with baking paper (or you can oil it).
Turn the dough onto a floured surface and knead until smooth. Shape the dough into a 20 x 26cm rectangle. Brush the dough with melted butter then spread with nutella/sugar or brown sugar and sprinkle with cinnamon. Roll it up from the long side and cut into 18 pieces.
Place the rolls flat into the baking tray with some room in between each one. Cover and stand them in a warm place for about 40 minutes.
Pre-heat the oven to 200C (390F) fan-forced.
Brush scrolls with milk and sprinkle with icing sugar. Bake scrolls for 8 minutes then turn the temperature down to 160C (320F) and bake for a further 18 minutes.
Remove to a wire rack to cool.