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In a large mixing bowl, dissolve yeast in warm water. Add the milk, butter, sugar, egg, salt and 2 cups flour; beat until smooth. Add enough remaining flour to form a soft dough. Turn onto a floured surface; knead until smooth and elastic, about 6-8 minutes. Place in a greased bowl, turning once to grease top. Cover and let rise in a warm place until doubled, about 1 hour.
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For glaze, heat butter in a small saucepan until golden brown; remove from heat. In a bowl, whisk the confectioners sugar, cinnamon, vanilla, and browned butter until smooth. Whisk in enough hot water to achieve spreading consistency. Brush over warm rolls.
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