01 - Combine warm milk and yeast in a large bowl. Let stand for 5 minutes until foamy.
02 - Add sugar, melted butter, egg, and salt to yeast mixture. Mix well. Gradually add flour, mixing until a soft dough forms.
03 - Knead dough on a lightly floured surface for 5 to 7 minutes until smooth and elastic.
04 - Place dough in a greased bowl, cover, and let rise in a warm place for 1 hour until doubled in size.
05 - Combine brown sugar and cinnamon in a small bowl.
06 - Roll dough into a 12x16-inch rectangle. Spread softened butter over surface, then sprinkle cinnamon-sugar mixture evenly. Fold dough in half lengthwise. Cut into 12 strips.
07 - Twist each strip several times and place on parchment-lined baking sheet. Cover and let rise for 15 minutes.
08 - Preheat oven to 375°F. Bake for 18 to 20 minutes until golden brown. Cool slightly.
09 - Whisk together powdered sugar, milk, and vanilla extract. Drizzle over warm twists before serving.