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1
Combine warm water and yeast in a small bowl; let stand 5 minutes.
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2
Combine lukewarm milk, sugar, and salt in the bowl of a stand mixer fitted with a flat beater. Stir in egg and butter, mixing on low speed until combined, then stir in yeast mixture. Mix in 2 cups of flour until incorporated; gradually add remaining flour 1/4 cup at a time until dough feels tacky but doesn't stick to your fingers. Switch out the flat beater for a dough hook, and knead dough for 5 minutes until smooth and elastic. You may need to add additional flour, 1 tablespoon at a time-I added an additional 3 tablespoons. The dough is ready when it pulls away from the bottom of the mixer bowl.
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3
Place dough in a large bowl coated with cooking spray and cover with plastic. Let the dough rise in a warm place until doubled in size (about 1 hour). To check if dough has doubled, lightly flour two fingers and press them down into center of the dough. If indentations remain, gently press down dough, cover it and let it rest 5 minutes. If the indentations don't remain, then allow the dough to continue rising until they do.
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4
Turn out the dough onto a lightly floured board and roll into an 18 x 12-inch rectangle. Brush dough with melted butter, leaving a 1/4-inch border. Combine sugar and cinnamon; sprinkle mixture over dough.
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5
Roll dough into a tight log and pinch edges to seal. Trim off uneven ends, then score the log every inch. Then use a sharp knife to slice the score lines, slicing the log into 18 equal slices. Place rolls cut side up into a 13 x 9-inch baking dish that you've coated with cooking spray. Cover with plastic and let rise in a warm place until doubled in size, about 1 hour.
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6
Preheat oven to 350u00b0F. Bake rolls in the preheated oven for 18-20 minutes, until tops are golden. Cool in pan on a wire rack for 5 minutes.
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7
To make glaze, place butter in a small saucepan over medium heat. Cook, stirring constantly, until it foams, turns clear, and then turns a deep brown, about 6 minutes. Remove from heat and allow it to cool slightly.
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8
Sift powdered sugar into a small bowl; whisk in browned butter, maple syrup, and milk until smooth.
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9
Pour glaze over warm rolls; glaze will set as rolls cool. Wrap leftover rolls well and store at room temperature up to 2 days. Reheat in a 300u00b0F oven before serving.
