Preheat the oven to 350°F (175°C) and lightly grease a baking dish.
Warm the milk until lukewarm, then mix with yeast and a pinch of sugar.
Let the mixture rest 5–10 minutes until foamy.
Add melted butter, egg, remaining sugar, and flour to form a soft dough.
Knead until smooth and elastic, then cover and let rise until doubled.
Roll the dough into a large rectangle on a floured surface.
Spread softened butter, then sprinkle brown sugar and cinnamon evenly.
Roll tightly into a log, slice into rounds, and place in the baking dish.
Let rolls rest 20–30 minutes for a second rise, then bake 18–22 minutes until golden.
Mix powdered sugar with milk to make glaze and drizzle over warm rolls before serving.