In a large mixing bowl, combine the yeast with sugar, hot water, and warmed milk, stirring until dissolved.

Add salt and oil, mix well, then gradually stir in flour to form a sticky dough. Knead briefly and let rest for 15 minutes.

Transfer the dough onto a floured surface, shape into a 12-inch circle, and place in a greased baking pan.

In a small bowl, whisk flour, brown sugar, sugar, and cinnamon. Mix in softened butter until crumbly.

Preheat oven to 375°F and bake for 15-20 minutes until golden brown.

Prepare icing by combining powdered sugar, vanilla, and milk until drizzling consistency is reached.

Drizzle icing over slightly cooled pizza, let it set, then slice and serve warm.