3 cups all-purpose flour
1/4 cup granulated sugar
1 package quick-rising active dry yeast
1 teaspoon salt
1 cup warm water
6 tablespoons butter, softened and divided
1 egg, at room temperature
1/2 cup packed light brown sugar
1 teaspoon cinnamon
1. Grease a 9X13 pan.
2. Combine 2 cups flour, granulated sugar, yeast, and salt in a large bowl. Stir in water, 2 tablespoons butter and egg. Beat until smooth; gradually stir in remaining flour until soft dough forms. Cover with plastic wrap; let rise until doubled, about 30 minutes.
3. On lightly floured surface, roll dough to 15X12 in. rectangle. Spread with remaining butter. Mix brown sugar with cinnamon; sprinkle over surface. Starting with a 12 in. side, roll up tightly.
4. Cut into 12 slices; place cut side down in prepared pan. Cover with plastic wrap; place on wire rack set over large pan of hot water. Let rise until buns double, 30-45 minutes. Preheat oven to 375F. Uncover buns. Bake until golden brown, 25-30 minutes. Cool for 1 minute.
5. To make glaze, mix 1 1/2 cups confectioner's sugar, 2-3 tablespoons milk, and 1 teaspoon vanilla. Drizzle over cinnamon rolls.