Warm up the milk on the stove or in the microwave. Aim for 100 - 110 degrees F.
Combine milk with active dry yeast and sugar. I like to do this in a liquid measuring cup because it’s easier to handle. Let sit for 5-10 minutes until it foams.
Pour ingredients from step 2 into a large mixing bowl or the bowl of a stand mixer. Add the butter. Whisk with a stand mixer or hand mixer until the butter breaks down into small pieces. If using a stand mixer, make sure to use the dough attachment.
Add the egg and salt. Whisk until incorporated. Don’t worry if the mixture has small lumps of butter still.
Add the flour a little bit at a time and whisk until a soft dough forms. Knead for 6 minutes. If using a hand mixer, knead with your hands.
Cover with aluminum foil and let dough rise in an oiled bowl for 1 hour until it doubles in size.
Once the dough is done rising, transfer onto a flat surface. Flour surface if needed. Roll the dough into a 12x12 square. Spread the butter over the top. Then top with brown sugar and ground cinnamon.
Roll the dough into a tight, 12-inch long log. Trim off the ends and cut into 9 even pieces. I like to do this by dividing the dough into 3 pieces and then dividing each piece into 3 pieces. This helps me get even sized cinnamon rolls.
Place cinnamon rolls onto an oiled baking dish or cast iron pan. I used a 10x10 baking dish. Cover with aluminum foil and let them rise in a warm place for 1 hour until they have doubled in size.
While the cinnamon rolls are rising, preheat the oven to 375 degrees F.
Bake cinnamon rolls covered for 15 minutes. After 15 minutes, remove the cover and bake for another 10 minutes to get that brown color. If after 10 minutes they’re not brown enough for you, you can leave them in for 1-2 more minutes. You can take them as far as you want.
While the cinnamon rolls are baking, make your glaze. Mix together all the ingredients for the glaze and set aside.
Glaze the cinnamon rolls once they are out of the oven. Serve right away for the best flavor!