Bring milk to a simmer. Remove from heat, add butter and sugar, stir until combined. Allow to cool.

Add dry active yeast to warm water. Allow to sit until it becomes foamy.

Combine milk mix, yeast, salt, egg, and half the flour in mixer with dough hook. Add remaining flour half cup at a time. Combine with dough hook until dough ball is formed. The amount of flour used may vary depending on amount of moisture in the air.

Place dough ball in greased bowl, cover, let rise 1 hour or until doubles in size.

Place on floured surface. Punch down.

Flatten dough with rolling pin to form large rectangle. About a 1/2 thick.

Spread butter to cover dough.Spinkle brown sugar, covering dough (the more the better). Sprinkle cinnamon to cover.

Roll up to form long tube. Slice into 24 rolls, not including end pieces. Place rolls on buttered dish.

Steps 1 through 8 can be completed the night before. At this point I cover the rolls and store them in the fridge overnight. In the morning place in 350°F oven until golden brown. Approx 20 minutes.

If you're ready to eat them today, allow prepared rolls to rise for 30 min, then place in oven until golden brown.

While baking, prepare icing. Combine the 3 ingredients with mixer until smooth. Spread over hot rolls.