Prepare the Dough:
In a large bowl, whisk together the flour, baking powder, sugar, and salt. Add the milk, melted butter, and egg. Stir until the dough comes together and then knead it for 1-2 minutes.

Make the Cinnamon Filling:
In a small bowl, mix the brown sugar and cinnamon. Spread the softened butter evenly over the dough, then sprinkle the cinnamon-sugar mixture generously.

Roll and Slice the Dough:
Carefully roll the dough into a tight log. Slice it into 8-10 pieces, depending on your preference for the size of each roll.

Cook the Cinnamon Rolls:
Heat a non-stick skillet over medium heat and grease it with butter. Place the cinnamon rolls in the skillet, ensuring they’re close together but not touching. Cover with a lid. Cook for about 10-12 minutes, checking occasionally. Once golden brown on the bottom, flip the rolls and cook for an additional 5 minutes until both sides are evenly golden.

Prepare the Glaze:
In a small bowl, mix the powdered sugar, milk, and vanilla extract until smooth. Drizzle this glaze over the warm cinnamon rolls before serving.