Activate the Yeast: Warm the milk to around 110°F. In a large bowl, combine warm milk, sugar, and yeast. Let it sit for 5 minutes until frothy.
Make the Dough: Add softened butter, egg, and salt to the yeast mixture. Gradually mix in the flour until the dough forms a sticky consistency. Knead for 5 minutes until smooth.
Let the Dough Rise: Place the dough in a greased bowl, cover, and let it rise for 10–15 minutes.
Roll Out the Dough: Roll the dough into a rectangle (about 14 x 9 inches). Spread softened butter evenly over the surface.
Add the Filling: Mix brown sugar and cinnamon, then sprinkle over the buttered dough.
Roll and Slice: Roll the dough tightly into a log. Cut into 12 equal pieces using a sharp knife or dental floss.
Arrange and Proof: Place the rolls in a greased 9x13-inch pan. Cover and let rise for 15 minutes.
Bake: Preheat your oven to 375°F. Bake rolls for 18–20 minutes or until golden brown.
Glaze: While the rolls bake, whisk powdered sugar, milk, and vanilla for the glaze. Drizzle over warm rolls before serving.
