Activate the Yeast: In a large mixing bowl, combine the warm milk, active dry yeast, and granulated sugar. Stir gently and let it sit for 5–7 minutes, until the mixture becomes visibly foamy and bubbly.

Make the Dough: Add the melted (and slightly cooled) butter, egg, and salt to the yeast mixture. Gradually stir in the all-purpose flour until a soft dough begins to form. Knead for 5–7 minutes until the dough becomes smooth, elastic, and pulls away from the sides of the bowl.

First Rise: Place the kneaded dough in a lightly greased bowl. Cover it with a clean kitchen towel or plastic wrap, and let it rise in a warm spot for about 1 hour, or until it has doubled in size.

Prepare the Filling: In a small bowl, whisk together the packed brown sugar and ground cinnamon until fully combined. Set aside.

Shape the Rolls: Punch down the risen dough and roll it out onto a lightly floured surface into a rectangle about ¼-inch thick. Spread the softened butter evenly over the entire surface of the dough, leaving a small border around the edges. Sprinkle the cinnamon sugar mixture evenly over the butter layer.

Roll & Cut: Roll the dough tightly from the long end into a uniform log. Cut the log into 1-inch pieces, and then cut each piece in half to create bite-size portions.

Bake: Place the cut bites into a greased or parchment-lined baking dish. Bake at 350°F (175°C) for 15–18 minutes, until the pastries are a deep golden brown and cooked completely through.

Glaze (Optional): While the bites bake, whisk together the powdered sugar, milk, and vanilla extract until completely smooth. Drizzle the glaze generously over the warm cinnamon roll bites right before serving.