In a large bowl, dissolve yeast and a pinch of sugar in warm milk; let it sit for 5 minutes until foamy, then stir in melted butter and egg.

Gradually add flour and remaining sugar to the wet ingredients, mixing until a shaggy dough forms, then knead on a floured surface for 5-7 minutes until smooth and elastic.

Place the dough in a greased bowl, cover, and let it rise in a warm place for 1-1.5 hours, or until doubled in size.

After rising, punch down the dough and roll it into a 12x9 inch rectangle on a lightly floured surface.

Spread the softened butter over the dough, then sprinkle evenly with the brown sugar and cinnamon mixture.

Tightly roll the dough from the long side, then cut the roll into 4 equal pieces.

Place the rolls in a greased 8x8 inch baking dish, cover, and let them rise again for 30 minutes.

Preheat oven to 375°F (190°C), then bake the rolls for 20-25 minutes, or until golden brown.

While the rolls cool slightly, whisk together powdered sugar and milk until smooth.

Drizzle the icing over the warm cinnamon rolls before serving.