Warm the milk slightly until lukewarm. Add sugar and yeast into the milk. Stir gently and let it rest for ten minutes. The mixture should become foamy and active.

In a large bowl, add flour, salt, egg, melted butter, and yeast mixture. Mix everything slowly until a soft dough forms. Knead the dough for about ten minutes until smooth and elastic.

Place the dough in a lightly greased bowl. Cover it with a clean cloth. Let it rise for one hour until it doubles in size. Keep it in a warm place.

Mix brown sugar and cinnamon in a small bowl. Spread softened butter on a flat surface. This creates the sweet filling for your rolls.

Roll the dough into a large rectangle using a rolling pin. Spread butter evenly on top. Sprinkle cinnamon sugar mixture across the surface carefully.

Roll the dough tightly from one end to the other. Cut into equal slices using a sharp knife. Place them in a greased baking tray.

Cover the rolls again and let them rise for 20 minutes. This makes them extra soft and fluffy before baking.

Preheat oven to 180°C. Bake the rolls for 20 minutes until golden brown. The smell will fill your kitchen beautifully.

Mix powdered sugar, milk and vanilla extract. Drizzle the glaze over warm rolls. Let it melt slightly into the soft surface.