1. In a small bowl, dissolve the yeast in warm milk. Let it sit for 5–10 minutes until foamy.

2. In a large mixing bowl, combine flour, sugar, and salt. Add the melted butter, egg, and the yeast mixture. Mix until a dough forms.

3. Knead the dough on a floured surface for about 8–10 minutes until smooth and elastic. Place the dough in a greased bowl, cover, and let rise for 1–1.5 hours or until doubled in size.

4. Roll the dough into a large rectangle (about 16×12 inches). Spread the softened butter evenly over the dough.

5. Mix brown sugar and cinnamon together and sprinkle evenly over the buttered dough.

6. Starting from the long side, tightly roll the dough into a log. Cut into 12 equal rolls. Place rolls in a greased baking dish, cover, and let rise for 30–45 minutes.

7. Preheat the oven to 350°F (175°C). Bake the rolls for 25–30 minutes or until golden brown.

8. While the rolls bake, whisk together powdered sugar, maple syrup, milk, and vanilla to make the glaze.

9. Remove rolls from the oven and drizzle the maple glaze over warm rolls before serving.