Buttery Cinnamon Rolls

Ingredients:

For the Dough:

3 cups all-purpose flour

¼ cup sugar

1 packet (2 ¼ tsp) instant yeast

½ tsp salt

¾ cup warm milk

¼ cup melted butter

1 egg

For the Filling:

½ cup softened butter

½ cup brown sugar

2 tbsp cinnamon powder

For the Glaze (optional):

½ cup powdered sugar

2 tbsp milk or cream

½ tsp vanilla extract