In a bowl, combine warm milk, sugar, and yeast. Let it sit for 5–10 minutes until foamy.
Add melted butter, egg, flour, and salt. Mix to form a soft dough.
Knead the dough for 8–10 minutes until smooth and elastic.
Place the dough in a greased bowl, cover, and let it rise for 1–2 hours until doubled in size.
Roll the dough into a large rectangle on a lightly floured surface.
Spread softened butter over the dough. Sprinkle evenly with brown sugar and ground cinnamon.
Roll the dough tightly into a log and cut it into equal-sized rolls.
Place the rolls in a greased baking dish. Cover and let them rise for 30–45 minutes.
Preheat the oven to 180°C (350°F). Bake for 20–25 minutes until lightly golden.
Allow the rolls to cool slightly and drizzle with icing or glaze before serving.