Preheat oven to 350°F (175°C). Grease a 9x13-inch baking dish and set aside.
In a large bowl, mix warm milk, yeast, and granulated sugar. Let sit for 5 minutes until foamy.
Add melted butter, salt, and egg, stirring to combine.
Gradually mix in flour, stirring until a soft dough forms.
Transfer dough to a lightly floured surface and knead for 5 minutes until smooth.
Step 2: Roll & Fill the Dough
Roll the dough into a 12x18-inch rectangle on a floured surface.
Spread softened butter evenly over the dough.
In a small bowl, mix brown sugar and cinnamon, then sprinkle evenly over the buttered dough.
Step 3: Shape & Slice
Roll the dough tightly from the long side into a log.
Using a sharp knife or dental floss, cut the log into 12 equal rolls.
Place rolls in the prepared baking dish, leaving a little space between each.
Step 4: Quick Rise & Bake
Cover and let the rolls rise in a warm place for 15 minutes. (Tip: Turn your oven to the lowest setting for 2-3 minutes, then turn it off. Place the rolls inside for a warm rising environment!)
Bake for 20-22 minutes, or until the tops are golden brown.
Step 5: Make the Glaze & Serve
In a bowl, whisk together powdered sugar, milk, and vanilla extract until smooth.
Drizzle the glaze over warm cinnamon rolls and serve fresh!
Notes
Use Instant Yeast – Instant yeast works faster than active dry yeast, making these rolls quick and easy.
For Extra Gooey Rolls – Pour ¼ cup warm heavy cream over the rolls before baking.
Dental Floss Trick – Use unflavored dental floss to slice the rolls cleanly without squishing them.
Want a More Caramelized Bottom? – Spread melted butter & brown sugar in the baking dish before adding the rolls.
Double the Glaze – If you love extra frosting, double the glaze recipe for a thicker drizzle.