Step 1: Prepare the Dough

1. In a large mixing bowl, combine warm milk, yeast, and sugar. Let it sit for 5–10 minutes until foamy.
2. Add melted butter, egg, and salt to the yeast mixture. Stir to combine.
3. Gradually add flour, 1 cup at a time, mixing until a soft dough forms.
4. Knead the dough on a lightly floured surface for 5–7 minutes until smooth and elastic.
5. Place dough in a greased bowl, cover with a clean towel, and let rise in a warm place for 1 hour, or until doubled in size.

Step 2: Make the Cinnamon Filling

1. In a small bowl, mix softened butter, brown sugar, and cinnamon until smooth.

Step 3: Shape the Breadtwists

1. Preheat oven to 350°F (175°C) and line a baking sheet with parchment paper.
2. Punch down the risen dough and roll it into a rectangle (12×18 inches).
3. Spread the cinnamon filling evenly over the surface.
4. Fold the dough in half lengthwise to enclose the filling.
5. Slice the dough into 1-inch strips using a pizza cutter or sharp knife.
6. Twist each strip and place on the prepared baking sheet, leaving space between twists.

Step 4: Bake

1. Bake the breadtwists for 18–22 minutes, or until golden brown.

Step 5: Make the Glaze

1. In a small bowl, whisk together powdered sugar, milk, and vanilla extract until smooth. Adjust with more milk or sugar for your desired consistency.

Step 6: Glaze and Serve

1. Drizzle warm breadtwists with the glaze.
2. Serve immediately and enjoy the delightful cinnamon-sugar flavor!