If using active dry yeast, combine warm water (about 105–110°F / 40–43°C) and 1 tsp of the granulated sugar in a small bowl, sprinkle yeast over and let sit 5–10 minutes until foamy. If using instant yeast, you may mix it directly into the flour and skip this step; warm milk will still be used below.

Warm milk and melt butter

Gently warm the milk until about 100–110°F (37–43°C). Stir in the 3 tablespoons butter until melted and slightly cooled. The mixture should be warm but not hot to the touch.

Mix dry ingredients

In the bowl of a stand mixer (or a large mixing bowl), whisk together the flour, remaining granulated sugar, yeast (if using instant yeast), and salt until evenly combined.

Form dough

With the mixer running on low, add the warm milk-butter mixture, the proofed yeast (if used), the warm water, and the egg. Mix until a shaggy dough forms, then increase speed to medium and knead for 6–8 minutes until the dough is smooth, slightly tacky, and elastic. If kneading by hand, knead on a lightly floured surface for 8–10 minutes.

First rise

Shape the dough into a ball, place it in a lightly oiled bowl, cover with plastic wrap or a clean towel, and let rise in a warm draft-free spot until doubled in size, about 60–75 minutes.

Filling & Shaping

Prepare filling

While the dough rises, make the filling: in a small bowl, combine the softened butter, light brown sugar, ground cinnamon, and vanilla extract. Stir until smooth and spreadable. If using nuts or raisins, fold them into the mixture.

Roll out dough

After the dough has doubled, punch it down and turn it onto a lightly floured surface. Roll the dough into a rectangle approximately 12 x 16 inches and about 1/4 inch thick.

Spread filling

Evenly spread the cinnamon-butter filling over the rolled dough, leaving a 1/2-inch border along the long edge farthest from you.

Roll and slice

Starting from the long edge closest to you, tightly roll the dough into a log. Pinch the seam to seal. Using a sharp knife or dental floss, cut the log into 12 equal rolls (about 1 1/3-inch each).

Second rise

Place the rolls, cut side up, into a greased 9x13-inch baking pan, leaving a little space between them to expand. Cover loosely with plastic or a towel and let rise until puffy and nearly doubled, about 30–45 minutes.

Bake & Glaze

Preheat and bake

Preheat the oven to 350°F (175°C). Bake the risen rolls in the preheated oven for 20–25 minutes, or until golden brown on top and cooked through. If the tops brown too quickly, tent loosely with foil for the last 5–10 minutes.

Brush with butter

Remove the pan from the oven and immediately brush the tops with the 1 tablespoon melted butter to keep them soft and add shine.

Make glaze

While the rolls cool for 5–10 minutes, whisk together the powdered sugar, 2 tablespoons milk or cream, and 1/4 teaspoon vanilla extract until smooth. Adjust thickness by adding more milk (a teaspoon at a time) for a thinner glaze or more powdered sugar to thicken.

Glaze the rolls

Drizzle or spread the glaze over the warm (not piping hot) rolls so it seeps into the swirls. Serve warm or at room temperature.