Cinnamon Rolls

In a large mixing bowl, combine flour, sugar, yeast, and salt. In a saucepan, heat milk and butter until melted. Let it cool slightly. Add the warm milk mixture and egg to the dry ingredients. Stir until well combined and the dough starts to form. Knead the dough on a floured surface for about 5-7 minutes until it becomes smooth and elastic. Place the dough in a greased bowl, cover it with a clean kitchen towel, and let it rest for 1 hour or until doubled in size. Punch down the dough and roll it out into a rectangle shape. Brush the surface of the dough with melted butter. In a small bowl, combine cinnamon and brown sugar. Sprinkle it evenly over the dough. Roll up the dough tightly starting from the longer side, jelly-roll style. Cut the rolled dough into 12 even slices. Place the slices in a greased baking dish, cover it with a towel, and let it rest for another 30 minutes. Preheat the oven to 350°F (175°C) and bake the rolls for 20-25 minutes or until golden brown. While the rolls are baking, prepare the icing by whisking powdered sugar, melted butter, milk, and vanilla extract in a bowl. Once the rolls are done, drizzle the icing over them. Serve warm and enjoy!