In a large bowl, combine warm milk, yeast, and sugar. Let sit 5 minutes until foamy.
Add melted butter, egg, and salt. Stir in flour gradually until a dough forms.
Knead on floured surface 5–6 minutes until smooth. Place in greased bowl, cover, and let rise 1 hour.
Mix brown sugar and cinnamon in a small bowl.
Roll dough into a rectangle. Spread softened butter, then sprinkle cinnamon sugar.
Roll into a log and slice into rounds (like cinnamon rolls). Arrange in a greased round cake pan, cut sides up.
Preheat oven to 350°F (175°C). Bake 30–35 minutes, until golden brown.
Drizzle with glaze if desired. Serve warm, pulling apart or slicing like cake.
