Preparing the Dough

1. Activate the Yeast: In a large mixing bowl, combine warm milk and granulated sugar. Stir until the sugar dissolves. Sprinkle yeast over the milk mixture and let it sit for 5-10 minutes until foamy.
2. Mix the Ingredients: Add melted butter, egg, and salt to the yeast mixture. Gradually stir in the flour, one cup at a time, until the dough begins to come together.
3. Knead the Dough: Transfer the dough to a lightly floured surface. Knead for about 8-10 minutes until the dough is smooth and elastic. If the dough is too sticky, sprinkle a little more flour as needed.
4. First Rise: Place the dough in a greased bowl, cover it with a clean kitchen towel or plastic wrap, and let it rise in a warm environment for about 1-2 hours or until it has doubled in size.

Preparing the Filling

5. Mix the Filling: In a small bowl, combine softened butter, brown sugar, and ground cinnamon until it forms a smooth paste.

Assembling the Cinnamon Rolls

6. Roll Out the Dough: Once the dough has risen, punch it down to release air. Transfer it back to the floured surface and roll out into a 16×12 inch rectangle.
7. Spread the Filling: Evenly spread the cinnamon-sugar mixture over the rolled-out dough, leaving a small border around the edges.
8. Roll and Slice: Starting from the long edge, tightly roll the dough into a log. Use a sharp knife or dental floss to cut the log into 12 equal pieces.
9. Second Rise: Arrange the rolls in a greased 9×13 inch baking dish. Cover and let them rise again for about 30-45 minutes or until they’ve puffed up.

Baking the Cinnamon Rolls

10. Preheat the Oven: Preheat your oven to 350°F (175°C).
11. Bake: Bake the rolls for 20-25 minutes or until they are golden brown and cooked through. Remove from the oven and let them cool slightly.

Preparing the Icing

12. Make the Icing: In a bowl, whisk together powdered sugar, melted butter, vanilla extract, and milk until smooth. Adjust the consistency by adding more milk if necessary.
13. Glaze the Rolls: Drizzle or spread the icing over the warm cinnamon rolls. Serve immediately.