1. Preheat the oven to 150 (or warm setting) degrees.

2. Add yeast and sugar to bowl of stand mixer. Pour in warm water and stir. Allow yeast to sit for at least 10 minutes, until doubled in size.

3. In a small bowl, stir together melted butter and warm milk; add to the yeast mixture.

4. Add in sugar, egg, and salt. Mix all ingredients until combined, then add in flour, 2 cups at a time scraping the bowl in between cups.

5. At this point the dough should start to come off the sides of the bowl, you may need to add up to a half cup of extra flour if the dough still sticks.

6. Knead the dough in the mixer on low speed for 7 minutes.

7. Remove the dough to a floured counter, and knead until the dough is no longer sticky.

8. Return dough to a large greased bowl and cover with a damp cloth. Turn off the preheated oven and place dough in warm oven for 45-60 minutes, or until doubled in size.

9. After dough has doubled in size, remove from bowl and place on a floured counter. Roll dough with a floured rolling pin into a large rectangle, 1/4 inch thick.

10. Using a spatula, spread softened butter over the entire rectangle.

11. Sprinkle brown sugar, sugar, and, cinnamon evenly over the dough.

12. Starting at the long end of the rectangle, tightly roll dough into a long log, being careful not to lose sugar and butter in the process. With dental floss or a knife, cut the log into 1 1/2 inch pieces.

13. Butter or spray with cooking spray a 13x17 inch jelly roll pan.

14. Closely place 4 rolls together in each row, (there should be enough room for 5 rows of rolls).

15. Place rolls once again in a warm oven for 45-60 minutes or until doubled in size.

16. Take rolls out of the oven and preheat to 350 degrees. Bake for 15-20 minutes or until rolls are golden and no longer doughy.

17. While rolls are cooking, make the vanilla icing. In a small bowl stir together powdered sugar and milk, adding sugar in small increments until reaching a spreadable consistency. Icing should not be runny.

18. Once the rolls are finished cooking, remove from the oven and spread with icing (I prefer to spread the icing on the rolls right while they are still hot, but you can wait longer if you prefer).