In the mixer, dissolve the yeast in the warm water and milk. Add the sugar and salt, mix and let sit for a couple minutes.

Add half of the flour while mixing on low, then add the melted butter.

Add the rest of the flour (or until the dough pulls away from the bowl).

Add the egg and mix for about 5 minutes.

Either cover the mixer and let the dough rise to double in there OR dump the dough in a bowl and cover it. I like to have my oven warm (heated to 170 then turned off) and a pan of boiled water in the bottom. I put the bowl in the oven and have the warmth and humidity help it rise quicker. Otherwise, let it sit on the counter until it rises double in size.

Either way, once it's doubled, separate the dough into two equal parts.

Roll out each part into a rectangle.

Brush melted butter all over each one and sprinkle with lots of brown sugar and some cinnamon. Using the longest side, roll up the dough.

Use string or dental floss to cut into rolls (about an inch wide).

Place rolls, separated on a greased cookie sheet.

Cover and let rise again, until about doubled in size.

Bake at 350 for 9-11 minutes, or until you see a hint of golden brown on top.

In the meantime, make your glaze by heating up the glaze ingredients in a saucepan.

Drizzle over cinnamon rolls.