In a large mixing bowl, combine the flour, yeast, sugar, and salt.

Add warm milk, egg, and melted butter. Mix until a sticky dough forms.

Knead on a lightly floured surface for 8–10 minutes until the dough is smooth and elastic.

Place the dough in a lightly oiled bowl, cover with a damp tea towel, and let it rise in a warm spot for about 1 hour, or until doubled in size.

In a small bowl, mix softened butter, brown sugar, and cinnamon into a smooth paste.

Roll out the dough on a floured surface into a rectangle (40 x 30 cm).

Spread the cinnamon filling evenly over the dough, leaving a small border around the edges.

Roll the dough tightly from the long side to form a log. Trim the ends and slice into 8 even pieces.

Arrange the scrolls in a greased baking dish, leaving space for them to expand. Cover and let rise for another 30 minutes.

Preheat the oven to 180°C (160°C fan-forced) and bake the scrolls for 25–30 minutes, or until golden brown.

Mix icing sugar, milk, and vanilla extract until smooth. Drizzle over the warm scrolls before serving.