In a small bowl, dissolve yeast and 1 tablespoon sugar in warm water. In a large bowl, beat milk and pudding mix on low speed 1 minute. Let stand 1 minute or until soft-set. Add egg, melted butter, salt, yeast mixture and 2 cups flour; beat on medium until smooth. Stir in enough remaining flour to form a soft dough (dough will be sticky).

Turn dough onto a floured surface; knead until smooth and elastic, 6-8 minutes. Place in a greased bowl, turning once to grease the top. Cover and let rise in a warm place until doubled, about 1 hour.

For filling, in a small bowl, mix sugar and cinnamon. Punch down dough; divide in half. Turn 1 portion of dough onto a lightly floured surface; roll into an 18x10-in. rectangle. Brush with half of the melted butter to within 1/4 in. of edges; sprinkle with half of the sugar mixture. Roll up jelly-roll style, starting with a long side; pinch seam to seal. Cut into 12 slices. Repeat with remaining dough and filling ingredients.

Place all slices in a greased 13x9-in. baking pan , cut side down. Cover with a kitchen towel; let rise in a warm place until almost doubled, about 45 minutes. Preheat oven to 350°.

Bake 20-25 minutes or until golden brown. Cool in pan on a wire rack.