STEP-1
In a large bowl, dissolve yeast in warm milk. Add sugar and 1 cup of flour. Stir gently, cover, and set aside until doubled in size, about 30-45 minutes.
STEP-2
Add butter, salt, egg,s and remaining flour. Mix well with a wooden spoon. Turn dough onto a lightly floured surface and knead for 5 minutes (dough will be a little sticky) Place back in the bowl and cover to let rise until doubled in size.
STEP-3
While the dough is rising, make the filling by combining brown sugar, cinnamon, and flour in a small bowl. Roll out onto a 21×16 rectangle, about ¼ inch thick.
STEP-4
Spread the ⅓ cup softened butter then sprinkle with the cinnamon mixture. Roll up long ways and cut into 1¾-inch slices. You should get about 12 cinnamon rolls.
STEP-5
Place on a greased jelly roll pan and let double in size. Bake at 375°F for 15-20 minutes.
STEP- 6
While the rolls are baking, mix all icing ingredients together. and spread over warm rolls.