Cinnamon Rolls - Steve Does Food

Ingredients

• 1 pkgs. active dry yeast
• 1/4 cup warm water (105 to 115 degrees)
• 1/4 tsp sugar
• 3 tbsp sugar
• 2-3 cups all-purpose flour
• 1/2 tsp salt
• 1/2 cup milk (scalded and cooled to 110 degrees)
• 3 tbsp butter (room temperature)
• 1 large egg
• 2/3 cup firmly packed brown sugar
• 1/4 cup sugar
• 1 1/2 tbsp cinnamon
• 2 cups confectioners' sugar
• 2-3 tbsp warm milk
• 1 tsp vanilla
• 1 tsp cinnamon