Add the yeast and 2 tablespoons of sugar to the bowl of a stand mixer.
2 packets rapid rise yeast
Combine water, milk and butter in a microwave-safe bowl. Microwave on high in 15 second increments until very warm but not hot to the touch (about 115°F. Butter won’t melt completely).
½ cup water, ½ cup whole milk, 2 tablespoons salted butter
Pour the milk mixture into the yeast mixture and stir to combine. Let the yeast proof for 5-10 minutes or until foamy.
Stir in molasses and remaining 2 tablespoons sugar.
1 cup molasses
Add 2 cups flour, salt, ginger, and cinnamon, and stir until blended.
Mix 2 minutes at medium speed in the bowl of a stand mixer, scraping bowl occasionally.
Add 1 cup flour; mix 2 minutes at medium speed, scraping bowl occasionally.
Stir in just enough remaining flour so that the dough will form into a ball. It should feel sticky when pinched, but shouldn't come off on your fingers.
Knead on lightly floured surface until smooth and elastic and springs back when lightly pressed with 2 fingers, about 6-8 minutes.
Cover with a towel; let rest for 10 minutes.
Cut dough into 2 equal pieces.
Roll each piece of dough into a 12 x 7-inch rectangle using a rolling pin.
Mix together cinnamon and sugar for the filling.
3/4 cup granulated sugar, 2 tablespoons ground cinnamon
Brush 2 tablespoons oil onto surface of dough.
Sprinkle each piece of dough with half cinnamon-sugar mixture.
Beginning at short end of each rectangle, roll up tightly.
Pinch seams and ends to seal.
Place, seam sides down, in greased 8-1/2 x 4-1/2 inch loaf pan.
Repeat with remaining piece dough.
Cover with towel; let rise in warm place until doubled in size, about 45 minutes.
Toward the end of the rising time, move your oven rack to the lower middle position, and preheat oven to 400ºF.
Bake for 25-30 minutes or until golden brown. Remove from pans by running a knife around the edges and invert onto wire rack to cool before slicing and serving.
Notes
Rapid rise yeast: Rapid rise yeast is specifically formulated to give a short first rise. If using a different type of yeast, you may need to adjust the rising time accordingly.
Milk: I recommend using whole milk for the softest, richest bread.
Flour: It's important not to add too much flour to the dough. Too much flour will give you a dry, heavy loaf of bread. It's better to leave the dough a little stickier and knead in enough flour than to put too much flour in the dough.
Molasses: I don't recommend using blackstrap molasses as it can be bitter.