Combine warm milk and yeast in a mixing bowl. Allow it to rest for 5-10 minutes until it turns frothy.
Add granulated sugar, softened butter, egg, salt, and 2 cups of flour. Mix until a soft dough forms.
Knead the dough on a floured surface until it becomes smooth, which should take approximately 5 minutes.
Roll the dough into a rectangle (approximately 12x9 inches).
Take a separate bowl, and combine brown sugar and cinnamon in it. Evenly distribute the melted butter across the dough, followed by an even sprinkling of the cinnamon-sugar mixture.
Roll the dough into a log and slice it into 12 equal pieces.
Place the rolls in a greased baking dish and cover with a kitchen towel. Let them rise for 30 minutes.
Preheat the oven to 350°F (175°C). Bake the rolls for 20-25 minutes or until they're golden brown.
While still warm, brush the tops with a little extra melted butter.
Serve and enjoy!