In a small bowl, mix warm milk, yeast, and 1 tbsp of sugar. Let it sit for 5-10 minutes until foamy.
1/3 cup warm milk , 3 tbsp granulated sugar, 1 & 3/4 tsp active dry yeast
In a mixing bowl, combine the yeast mixture, remaining sugar, butter, egg, and salt. Gradually add the flour, mixing until a soft dough forms. Knead for 5-7 minutes by hand or with a dough hook until smooth and elastic.
Place the dough in a greased bowl, cover, and let it rise in a warm spot for 1 hour, or until doubled in size.
For the cinnamon roll filling
Mix brown sugar, and cinnamon in a small bowl.
1/2 cup brown sugar, 1 tbsp cinnamon
Roll the dough into a 11X9 inch rectangle. Spread the butter on top of the dough with an offset spatula, then sprinkle filling evenly over the dough. Roll tightly from the longer side and slice into 6 equal pieces.
2 tbsp unsalted butter
Place the rolls in a greased 8-inch round or medium rectangular pan. Cover and let rise for another 30 minutes.
Preheat your oven to 350°F . Bake the rolls for 18-22 minutes, or until lightly golden.
for the vanilla bean glaze
Whisk together powdered sugar, softened butter, milk, salt, and vanilla extract or vanilla bean paste until smooth. Drizzle over warm rolls.
2 tbsp butter, 1 cup powdered sugar, 1-3 tbsp milk, ¼ tsp vanilla extract, pinch of salt
Enjoy your soft, sweet cinnamon rolls fresh out of the oven! Perfect for a cozy treat!