Heat the milk until warm, then dissolve the yeast in the milk. Let it sit for 5 minutes until frothy.

In a mixing bowl, combine the flour, sugar, and salt. Add the yeast mixture, egg, and melted butter. Mix until dough forms.

Knead the dough for about 5 minutes until smooth. Cover and let rise for 1 hour or until doubled in size.

Preheat oven to 350°F. Roll out the dough into a rectangle about 16x12 inches.

Spread melted butter over the dough. Mix cinnamon and brown sugar, then sprinkle evenly over the butter.

Roll up the dough tightly from the longer side. Cut into 8 equal slices and place in a greased baking dish.

Bake for 25 minutes until golden brown. Meanwhile, mix powdered sugar and milk to make the glaze.

Drizzle the glaze over the warm cinnamon rolls. Serve immediately.