Heat milk, butter, salt, and sugar to 120 degrees F. in the microwave (about 35 seconds).
Combine flour and the yeast in the bowl of a stand mixer and add warmed liquids and egg and beat for 3 minutes.
Turn out the dough onto a floured surface and knead 3-5 minutes then place in bowl, cover, and let rest for 20 minutes.
After rest roll into a rectangle. Spread with softened butter. Combine brown sugar and cinnamon and sprinkle evenly over dough.
Roll the dough up jelly roll style, cut into even slices and place into greased pans and let sit another 30 minutes.
Bake in a preheated 350°F oven for 20-25 minutes, or until lightly browned.
8 servings