In a small bowl, whisk warm milk with 1 tsp sugar, then sprinkle yeast on top. Wait 5–7 minutes until foamy—if nothing happens, start over with fresh yeast.

In the bowl of a stand mixer fitted with a dough hook (or in a large mixing bowl), combine flour, sugar, and salt. Add melted butter, egg, yogurt and the yeast mixture. Mix on low until a shaggy dough forms, then bump up to medium for 5–7 minutes until smooth and elastic.

Lightly oil a bowl, transfer the dough, and cover with plastic wrap. Let it rest in a warm spot for about 1 hour, or until doubled in size—think of it like a spa day for your dough.

Punch down the dough, transfer to a lightly floured surface, and roll into a 12×16-inch rectangle. Spread softened butter evenly, then sprinkle brown sugar and cinnamon all over, leaving a ½-inch border.

Starting at the long edge, tightly roll the dough into a log. Pinch the seam closed, then cut into 12–15 equal slices with a sharp knife or dental floss (yes, floss works like a charm!).

Arrange rolls in a greased 9×13-inch pan, leaving a bit of space between each. Cover loosely with plastic wrap and let rise for 30–45 minutes until they look puffy. Meanwhile, preheat the oven to 350°F.

Slide the pan into the center rack and bake 20–25 minutes, until tops are golden and centers bounce back when gently pressed. Avoid overbaking—they should be soft and tender.

Whisk powdered sugar, milk, and vanilla until smooth. Drizzle over hot rolls so it melts into all those nooks and crannies. Serve immediately, or let cool a bit for a firmer frosting.