In a small bowl, dissolve yeast in a 1⁄4 cup of the hot milk (110°F) and set aside.
In a large bowl mix remaining milk, sugar, melted butter, and egg. Add 2 cups of flour and the salt mix until smooth. Add yeast/milk mixture. Mix in remaining flour until dough is easy to handle.
Knead dough on a floured surface, knead the dough 5 to 8 minutes or until smooth. Place in an oiled bowl, cover and let rise until doubled in size, usually 2 - 3 hours.
When doubled in size, punch down dough. Roll out on a floured surface into a 15 by 9-inch rectangle.
Mix the melted butter with the cinnamon and sugar and spread the mixture evenly over the rolled dough. Beginning at the 15-inch side, roll up the dough and pinch edge together to seal. Cut into12 slices.
Place them about 2 inches apart in a 13×9 pan. . Let rise until dough is doubled (about 45 minutes to an hour).
Bake on 350°F (175°C) for 20 - 30 minutes or until golden brown.
Meanwhile, In a mixing bowl whisk together 2 tablespoons of the milk, the melted butter powdered sugar, and vanilla extract. Add in more milk as needed 1 teaspoon at a time until it is the desired consistency.
Spread over the warm rolls before serving.
Notes
If you only have Quick Rise Yeast, you can still make this recipe. To do so, skip adding the yeast to the warm milk and add the yeast directly to the bowl when you add the warm milk and butter. Just keep it away from the salt.
Be sure the milk you use is warm (it should be 110°F). If it is too hot it will kill the yeast and if its too cold, the yeast won’t activate.
Use a room temperature egg in the dough: When using cold eggs in yeast dough could affect the yeast activating.
Be sure you to flour your kneading and rolling surface as well as the rolling pin to prevent the dough from sticking to the surface or the rolling pin.