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Activate the yeast: In a large bowl, combine warm milk and sugar. Sprinkle the yeast over the top and let it sit for 5–10 minutes until foamy.
Make the dough: Add melted butter, egg, salt, and 2 cups of flour to the bowl. Mix until combined. Gradually add the remaining flour and knead until a soft, slightly sticky dough forms—about 6–8 minutes.
First rise: Cover the bowl with a towel and let the dough rise in a warm place until doubled in size, about 1 hour.
Roll and fill: Roll out the dough into a 16x12 inch rectangle. Spread softened butter over the surface, then sprinkle evenly with brown sugar and cinnamon.
Shape: Roll the dough tightly from the long edge into a log. Slice into 12 equal rolls and place in a greased 9x13 inch baking dish.
Second rise: Cover and let the rolls rise again for 30–40 minutes.
Bake: Preheat oven to 350°F (175°C). Bake the rolls for 20–25 minutes or until golden on top.
Glaze: Whisk together powdered sugar, milk, and vanilla until smooth. Drizzle over warm rolls and serve immediately.
Serving and storage tips:
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