Dissolve yeast in warm milk, and set aside until it bubbles.
Meanwhile, mix sugar, butter, salt, vanilla, and egg.
Using a stand mixer or a hand mixer, add 2 cups of flour, yeast mixture, and the sugar/butter mixture.
Gradually add the flour until the dough comes together and is easy to handle. Knead by hand, form into a ball, and place it in a well-greased bowl and let it double in size for an hour. More if needed depending on the temperature of your home.
Once double in sized. Pinch it down, and roll into a rectangle. Brush with melted butter.
Mix the sugar and cinnamon and sprinkle on top. Roll up the dough and pinch ends to seal.
Grease an oven proof dish with a stick of butter, and cut the cinnamon rolls into equal sizes.
Place in your oven proof dish and cover with tea towel for 30 minutes. More if needed depending on the temperature of your home.
Meanwhile preheat your oven to 180 degrees.
Bake for 15 – 20 minutes or more depending on how thick your rolls are.
While your rolls bake, prepare your icing.
I used 6 Kiri squares for this one because I was out of Philadelphia and didn’t want to make a big batch. I added the milk and vanilla, and whisked with a hand mixer gradually adding the sifted icing sugar until it reached the consistency I wanted.
Serve with glaze on top or on the side.