Make the Dough:

1. In a large bowl, combine 2 cups of flour, sugar, yeast, and salt. In a small saucepan, heat the milk, water, and butter over low heat until warm (about 110°F). Add the wet ingredients to the dry mixture, then add the egg. Stir until combined, then gradually add the remaining flour to form a dough.
2. Knead the dough on a floured surface for about 5-7 minutes, until smooth and elastic. Place the dough in a greased bowl, cover it with a clean towel, and let it rise in a warm place for 1 hour, or until it doubles in size.

Prepare the Filling: 3. While the dough is rising, mix together the softened butter, brown sugar, and cinnamon until smooth.

Shape the Rolls: 4. After the dough has risen, punch it down and roll it out on a floured surface into a 12×9-inch rectangle. Spread the cinnamon filling evenly over the dough, then carefully roll it up tightly from the long side. 5. Slice the dough into 12 even rolls and place them in a greased 9×13-inch baking dish. Cover the dish with a towel and let the rolls rise for another 30 minutes.

Bake the Rolls: 6. Preheat the oven to 375°F (190°C). Bake the cinnamon rolls for 18-22 minutes, or until golden brown and cooked through.

Make the Glaze: 7. While the rolls are baking, prepare the glaze by whisking together powdered sugar, milk, and vanilla extract until smooth. Set aside.

Finish and Serve: 8. Once the rolls are baked, remove them from the oven and let them cool for a few minutes. Drizzle the glaze over the warm rolls before serving.