In a large bowl, combine flour, sugar, 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.
Knead the dough on a floured surface for about 5-7 minutes until smooth.
Place the dough in a greased bowl, cover, and let it rise for 1 hour or until doubled in size.
Roll the dough out into a rectangle about ¼ inch thick.
Spread melted butter over the surface, then sprinkle evenly with cinnamon and brown sugar.
Roll the dough tightly from one end to the other, forming a log.
Cut the log into 12 equal pieces and place them in a greased baking dish.
Cover the rolls and let them rise for another 30 minutes.
Bake in a preheated oven at 350°F (175°C) for 25 minutes until golden brown.
In a bowl, mix powdered sugar with milk to create icing and drizzle over warm rolls.