01 - Combine warm milk and yeast in a large bowl. Let stand for 5 minutes until foamy.
02 - Add sugar, melted butter, egg, and salt to the yeast mixture. Mix well. Gradually add flour, mixing until a soft dough forms.
03 - Knead dough on a lightly floured surface for 5 to 7 minutes until smooth and elastic.
04 - Place dough in a greased bowl, cover, and let rise in a warm place for 1 hour or until doubled in size.
05 - Combine brown sugar and cinnamon in a small bowl. Mix until well blended.
06 - Roll dough into a 12x16-inch rectangle. Spread softened butter over the surface, then evenly sprinkle cinnamon-sugar mixture.
07 - Fold the dough in half lengthwise. Cut into 12 strips. Twist each strip several times and place on a parchment-lined baking sheet.
08 - Cover and let rise for 15 minutes while preheating oven to 375°F.
09 - Bake for 18 to 20 minutes until golden brown. Cool slightly.
10 - Whisk together powdered sugar, milk, and vanilla extract until smooth. Drizzle over warm twists before serving.