In a large bowl, whisk together flour, baking powder, salt, and sugar. Add melted butter, egg, and warm milk and stir until combined.
On a lightly floured surface, roll out the dough to a 10x12-inch rectangle. Brush with melted butter and sprinkle with cinnamon, brown sugar, and vanilla extract.
Roll up the dough and cut into 8 slices. Place rolls in a greased 9x13-inch pan.
Bake at 375 degrees F for 25 minutes or until golden brown. Let cool.
In a small bowl, whisk together confectioners' sugar and warm milk. Drizzle over cooled rolls before serving.
Interesting Facts
Cinnamon rolls are a popular Swedish pastry known as kanelbullar.
The gooey glaze on cinnamon rolls is typically made with confectioners' sugar and milk.
Cinnamon rolls are a popular breakfast food in the United States.