Preheat oven to 375 degrees F (190 degrees C). Grease a 9x13 inch pan.
In a large bowl, mix together the flour, salt, white sugar and baking powder. Stir in the milk and melted butter until the dough pulls away from the sides of the bowl. Turn the dough out onto a lightly floured surface, and knead until smooth and elastic. Roll the dough out into a 16x21 inch rectangle.
In a small bowl, mix together the brown sugar, cinnamon and walnuts. Sprinkle the mixture over the dough, and roll up the dough into a log. Cut into 1 1/2 inch thick slices, and place in the prepared pan.
Bake in preheated oven for 25 to 30 minutes, or until golden brown.
Interesting Facts
Cinnamon rolls were first made in Sweden in the 18th century.
Cinnamon rolls are a popular breakfast food in the United States.
The smell of cinnamon rolls is said to be one of the most comforting scents.