Preheat oven to 400 F. Grease cupcake tray. Over low heat, combine butter & milk in medium saucepan. Stir until the butter is liquid & then pour mixture into large mixing bowl.
Let mixture cool for 5 minutes or until temperature of warm bath water. Add in yeast & let activate for 10 minutes.
Add in 1 tbsp granulated sugar & salt. Stir. Add in flour 1 cup at a time while stirring.
Place dough on lightly floured surface & knead for one minute. Place ball of dough into sprayed mixing bowl, cover with plastic wrap, & place in warm area to rise until doubled in size.
On lightly floured surface, flatten dough until about ½ inch wide & ¼ inch thick.
Combine brown sugar, vanilla, & cinnamon in mixing bowl & stir to combine. Pour mixture over dough.
Flatten out cookie dough until roughly the same thickness as dough & line roll dough with cookie dough. Roll dough into circular cinnamon roll shape & slice 1 inch thick.
Place individual roll into cupcake tray & bake for 14 minutes. Remove & drizzle with glaze. Enjoy!