1. Warm the milk until slightly warm but not hot. Mix the warm milk, sugar, and instant yeast together and let it sit briefly.

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

3. Knead the dough for several minutes until smooth and elastic. Transfer to a greased bowl and let it rest in a warm place until slightly puffed.

4. In a small bowl, combine brown sugar and cinnamon for the filling mixture.

5. Roll the dough into a large rectangle on a lightly floured surface.

6. Spread softened butter evenly across the dough, then sprinkle the cinnamon sugar mixture over the top.

7. Roll the dough tightly into a log and slice into equal rolls.

8. Arrange the rolls in a greased baking dish and let them rise briefly until puffy.

9. Bake the cinnamon rolls in a preheated oven at 350°F until lightly golden brown and fully cooked.

10. While the rolls cool slightly, whisk together powdered sugar, vanilla extract, and milk or cream to create the glaze.

11. Drizzle the glaze generously over the warm cinnamon rolls before serving.