To make dough In kitchenAid mixer with paddle hook add warm water, yeast and 1 tsp sugar. Let poof 10 minutes. In saucepan combine milk and 1/3 cup butter. Heat until scalded, remove from heat. In yeast mixture add egg, sugar, and salt. Mix on low speed until combined. Slowly add flour and milk/butter alternating. When dough is forming it will become 'stretchy.' Change to kneading hook, knead on low speed for 5 minutes or until smooth. Transfer to a greased glass bowl, cover with cloth and let rise for 2 hours or until double. Punch down. Roll out dough to large rectangle 1/4 inch thick. Cover with 1/4 softened butter, then sprinkle with cinnamon, finally cover with brown sugar. Roll rectangle into a log. Cut by taking thread or string slipped under roll, crossed on top and pulled tight. Place on a parchment lined cookie sheet and let rise again for 30-45 minutes. Bake 350 degree oven for 13-15 minutes or until golden brown. For Icing combine powdered sugar and vanilla. Slowly add enough milk to get a runny consistency. Spread over rolls after they have cooled for 15 minutes.