Mix the dough: In a large bowl, combine about 1 cup of the 3 cups bread flour (total) with the 2 teaspoons instant yeast, 1/2 teaspoons salt, and the warm milk mixture. Mix well. Add the 1 egg. Add the remaining flour a little at a time until the dough is sticky but you can handle it. You may not need all 3 cups — stop when it just barely stops sticking to your hands.

First rise: Cover the bowl with a clean towel and let the dough rise in a warm, draft-free spot for 1 to 1½ hours, until it has puffed up nicely.

Roll out the dough: On a floured surface, roll the dough out to about 12–14 inches wide, 1 foot long, and ½ inch thick. Make sure to flour your rolling pin too so nothing sticks!

Add the filling: Brush the dough with the melted 3 tablespoons unsalted butter (melted, for filling). Sprinkle on the 1 cups brown sugar (for filling) and 2 tablespoons ground cinnamon (for filling), covering the whole surface. Use your fingers to rub everything together until it looks like a thick paste.

Roll and slice: Starting from one long side, roll the dough toward you into a tight log. Pinch the seam closed. Cut into ½-inch slices using a sharp knife or a piece of dental floss (the floss trick is amazing and doesn't squish the rolls!).

Second rise: Grease one 9×13 baking dish. Place the rolls in the dish and let them rise for another 30 minutes.

Make the icing: Beat the softened 3 tablespoons unsalted butter, softened (for icing) until light and fluffy, about 3–5 minutes. Mix in the 1-1/3 cups powdered sugar (for icing) and 1 pinch pinch of salt (for icing). Add 1 teaspoon vanilla extract (for icing) and then the milk (for icing), one tablespoon at a time, until the icing is spreadable. Frost the completely cooled rolls and enjoy!