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For dough:.
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Combine milk and butter in glass measuring cup.
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Microwave on high until butter melts.
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Pour into bowl of stand mixer fitted with paddle attachment.
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Add 1 cup flour, sugar, egg, yeast, and salt.
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Beat on low speed, stopping occasionally to scrape down sides of bowl.
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Add 21/2 cups flour.
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Beat on low until flour is absorbed and dough is sticky, scraping down sides of bowl.
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Turn dough out onto lightly floured work surface.
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Knead until smooth and elastic, adding more flour if sticky, about 8 minutes.
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You can also need dough in your KitchenAid mixer.
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Let dough rise in warm draft-free area until doubled in volume, about 2 hours.
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For filling:.
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Mix brown sugar and cinnamon in bowl.
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Punch down dough.
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Transfer to floured work surface.
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Roll out to 15x11-inch rectangle.
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Spread butter over dough, leaving 1/2-inch border.
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Sprinkle cinnamon sugar evenly over butter.
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Roll dough into log.
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Spray a glass baking dish with nonstick spray.
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Arrange rolls cut side up (there will be almost no space between rolls).
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Bake at 375F for 20-30 minutes.
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For glaze:.
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Combine powdered sugar, butter, and vanilla in medium bowl.
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Using electric mixer, beat until smooth adding water to thin out.
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Spread glaze on rolls.
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Serve warm or at room temperature.
