Combine the warm milk, yeast, and a pinch of sugar in a small bowl. Let sit for 5-10 minutes until foamy, indicating activation.
In a large mixing bowl, whisk together the flour, remaining sugar, and salt. Pour in the activated yeast mixture, melted butter, and egg. Stir with a silicone spatula until a sticky dough forms.
Knead the dough on a floured surface for about 5 minutes until smooth and elastic. Cover with a damp towel and let rise in a warm place for 1 hour, or until doubled in size.
Preheat your oven to 350°F (175°C). Punch down the risen dough and roll it out into a rectangle about ¼ inch thick on a floured surface.
Spread the softened butter over the dough, then sprinkle evenly with brown sugar and cinnamon. Roll the dough tightly from the long side into a log, then cut into 8 equal pieces.
Place the rolls in a greased baking dish, leaving space between them. Bake for 20 minutes or until golden brown and bubbling. Mix powdered sugar with milk to create a glaze, then drizzle over the warm rolls before serving.
2 ½ cups all-purpose flour
