In a bowl, combine warm milk and sugar, then sprinkle yeast on top. Let it sit for 5-10 minutes until frothy.
In a large mixing bowl, whisk together flour and salt.
Add the yeast mixture, melted butter, and egg to the flour. Mix until a dough forms.
Knead the dough on a floured surface for about 5-7 minutes until smooth.
Place the dough in a greased bowl, cover, and let rise in a warm place until doubled in size, about 1 hour.
Punch down the risen dough and roll it out into a rectangle.
Spread softened butter over the dough, then sprinkle cinnamon and brown sugar evenly on top.
Roll the dough tightly from one end to the other, sealing the edges.
Place the rolled dough in a greased loaf pan, cover, and let rise again for 30-45 minutes.
Bake in a preheated oven at 350°F (175°C) for 30-35 minutes or until golden brown.