Warm ½ cup of milk until it's warm but not boiling. Stir in 1 packet of active dry yeast and ¼ cup granulated sugar. Let it sit for about 5-10 minutes until frothy.

In a large bowl, combine 2 cups of all-purpose flour and ½ teaspoon of salt. Once your yeast is frothy, add the mixture along with ¼ cup of melted butter and 1 large egg to the flour. Stir until just combined to form a soft dough.

Lightly flour a clean surface and knead the dough for about 5-7 minutes until smooth and elastic.

Place the dough in a greased bowl and cover it with a damp cloth. Let it rise in a warm place for about 1 hour, or until doubled in size.

In a bowl, mix ½ cup brown sugar, 1 tablespoon ground cinnamon, and ¼ cup softened butter.

After the dough has risen, punch it down and roll it out into a rectangle about ¼ inch thick. Spread the filling evenly over the surface, leaving a small edge.

Starting from one edge, tightly roll the dough into a log. Cut into 12 equal pieces and arrange them in a greased baking dish. Let them rise again for about 30 minutes.

Preheat your oven to 350°F (175°C). Bake for 25-30 minutes until golden brown and cooked through.

While the rolls are baking, whisk together 1 cup powdered sugar and 2 tablespoons of milk until smooth.

Once the rolls are out of the oven, let them cool for about 10 minutes before drizzling with icing.