Add the milk and melted butter. Stir in your egg carefully. Whisk them together until they are smooth.

Add your flour and salt slowly. Use your mixer on low speed. Mix until a soft dough forms.

Knead the dough for five minutes. It should feel smooth and stretchy. Place it in a greased bowl.

Let the dough rise for one hour. It should double in its size. Put it in a warm spot.

Punch the dough down gently. Roll it into a large rectangle. Use flour so it does not stick.

Spread softened butter over the dough. Sprinkle cinnamon and brown sugar. Cover every inch of the dough.

Roll the dough up tightly. Start from the long edge. Pinch the seam to close it.

Cut the log into twelve pieces. Use a sharp knife or floss. Place them in your baking pan.

Let them rise for thirty minutes. Preheat your oven to 350 degrees. They should look puffy.

Bake for twenty to twenty-five minutes. They should be golden brown. Do not overbake them today.

Whisk the icing ingredients together. Spread it over the warm rolls. Serve them while they are hot.