Prepare the Dough:

• In a small bowl, combine the warm milk and sugar. Sprinkle the yeast over the top and let it sit for about 5 minutes, until it becomes frothy.

• Stir in the melted butter, egg, and salt. Gradually add the flour, mixing until the dough comes together.

• Knead the dough for 5-7 minutes until it becomes smooth and elastic.

• Cover the dough and let it rise in a warm place for about 1 hour, or until it has doubled in size.

Prepare the Filling:

• While the dough is rising, mix the softened butter, brown sugar, and cinnamon together in a bowl. You can also add a touch of vanilla extract for extra flavor if desired.

Roll Out the Dough:

• Once the dough has risen, punch it down and roll it out on a lightly floured surface into a rectangular shape. The larger the rectangle, the more cinnamon rolls you’ll have.

Add the Cinnamon Filling:

• Spread the cinnamon filling evenly across the rolled-out dough.

Shape and Slice the Rolls:

• Roll the dough tightly into a log and slice it into 12 even pieces. Place the rolls in a greased cast iron skillet.

Let the Rolls Rise:

• Cover the skillet with a towel and let the rolls rise for about 30 minutes until they puff up.

Bake the Rolls:

• Preheat the oven to 375°F (190°C).

• Bake the rolls for 20-25 minutes, or until they are golden brown and fully cooked through.

Prepare the Icing:

• While the rolls are baking, whisk together powdered sugar, milk, and vanilla extract in a bowl to make the icing.

Finish and Serve:

• Once the rolls are done, drizzle the icing over them while they are still warm. Serve immediately for the best taste!