In a large bowl, combine the flour, sugar, instant yeast, and salt.

In another bowl, whisk together warm milk, melted butter, and egg.

Pour the wet mixture into the dry ingredients and mix until a dough forms.

Transfer the dough to a floured surface and knead for about 5-7 minutes until it’s smooth and elastic.

Place it in a greased bowl, cover with a damp cloth, and allow it to rise in a warm place until doubled in size (about 1 hour).

Mix the brown sugar with the cinnamon and softened butter until well combined.

After the dough has risen, roll it out into a rectangle approximately 1/4 inch thick.

Spread the cinnamon filling evenly over the dough.

Starting from one edge, tightly roll the dough into a log.

Slice into 12 equal pieces and place them in a greased baking dish.

Cover the rolls with a damp cloth and let them rise again for about 30 minutes.

Preheat the oven to 350°F (175°C).

Bake the rolls for 25-30 minutes, or until golden brown.

While the rolls are baking, mix the powdered sugar with milk until smooth.

Once the rolls are out of the oven, drizzle the icing on top while they’re still warm.

Let the cinnamon rolls cool slightly, then dig in and relish each fluffy, sweet bite!