Heat milk, 1/4 cup butter, and 1/4 cup sugar in saucepan till butter is melted and sugar is dissolved. Remove from heat. Let cool till warm (110 degrees)

In a large bowl combine mixture with yeast.

Add egg and 2 cups of flour and salt. Beat well. Add remaining flour,, 1/2 cup at a time until dough starts to pull from edges. Turn on board and knead until smooth, about 5 minutes.

Place in greased bowl and cover with damp cloth. Rise for one hour. In meantime, in a small bowl mix soften butter, brown sugar, and cinnamon.

Roll out dough into a 12x9 inch rectangle. Spread the dough with cinnamon mixture. Roll up the dough and pinch the seam to seal. Cut into 12 equal sized pieces and place into greased 9x13 pan. Cover and let rise till doubled.

Bake at 375°F for25-30 min, until browned. Remove and frost while warm

In a medium bowl place powdered sugar, butter and vanilla.bbStir in enough milk to reach a thick hardly able to stir consistency. Spread over warm rolls.