Step 1: Activate the Yeast
In a small bowl, combine warm milk and yeast. Let it sit for 5-10 minutes until frothy.

Step 2: Prepare the Dough
In a stand mixer, mix flour, sugar, salt, melted butter, egg, and the yeast mixture. Knead on medium speed for 5-7 minutes until the dough is smooth and elastic.

Step 3: Let the Dough Rise
Place the dough in a greased bowl, cover with a damp cloth, and let it rise in a warm place for 1-2 hours or until doubled in size.

Step 4: Roll Out the Dough
On a floured surface, roll the dough into a 16×12 inch rectangle. Spread softened butter over the dough, then sprinkle evenly with brown sugar and cinnamon.

Step 5: Shape and Cut the Rolls
Tightly roll the dough into a log. Use a sharp knife or dental floss to cut into 12 equal rolls. Place them in a greased baking dish.

Step 6: Second Rise
Cover the rolls and let them rise for another 30-45 minutes until puffy.

Step 7: Bake
Preheat the oven to 375°F (190°C). Bake the rolls for 20-25 minutes or until golden brown.

Step 8: Glaze
Whisk powdered sugar, milk, and vanilla extract to make the glaze. Drizzle over warm cinnamon rolls before serving.