In a large mixing bowl, combine the warm milk, granulated sugar, and yeast. Let it sit for about 5 minutes until frothy.

Add the melted butter, egg, and vanilla extract to the yeast mixture. Stir until well combined.

Gradually add the flour and salt, mixing until a dough forms. Knead the dough on a floured surface for about 5-7 minutes until smooth and elastic.

Place the dough in a greased bowl, cover with a kitchen towel, and let it rise in a warm place for about 1 hour or until doubled in size.

Preheat your oven to 350°F.

Once the dough has risen, roll it out on a floured surface into a rectangle about 1/4 inch thick.

Spread the softened butter for the filling evenly over the dough. In a small bowl, mix the brown sugar and cinnamon, then sprinkle it over the buttered dough.

Roll the dough tightly from the long side to form a log. Cut the log into 12 equal pieces and place them in a greased baking dish.

Cover the rolls with a kitchen towel and let them rise for another 30 minutes.

Bake in the preheated oven for 20-25 minutes or until golden brown.

While the rolls are baking, prepare the glaze by mixing the powdered sugar with enough milk to reach your desired consistency.

Once the rolls are done, drizzle the glaze over them while they are still warm.