Combine first 4 ingredients;stir until butter melts.Cool mixture to lukewwarm(105* to 115*).
Dissolve yeast in a warm water in a large mixing bowl.Stir in milk mixture,11/2 cups flour,and egg;beat at medium speedd of electric mixer until smooth.Stir in the 3/4 cup remaining 3/4 cups flour to make a stiff dough.
Turn dough out onto a lightly floured surface;knead 8 minutes or until smooth and elastic.Place dough in a greased bowl,turning to grease top.Cover and let rise in a warm place(85*),free from drafts,about 1 hour (dough will not double in bulk).
Turn dough out onto a lightly floured surface;roll into a 12-x-8-inch rectangle,and sprread with 2 tablespoons butter.Combine brown sugar and cinnamon;sprinkle mixture over rectangle.Rllup fashion,beginning at long side;moisten edges with water to seal.Cut rolls into 1-inch slices;place slices cut side down in greased muffin pans.Brush tops. with 1tablespoons melted butter.Using a fork,gently lift center of rolls to form a peak.
Cover and let rise in a warm place(85*),free from drafts,about 40 mminutes(rolls will not double in bulk).Bake at 350*F.for 20 minutes.Combine powdered sugar and. 2 tablespoons milk;beating well.Drizzle over warm rolls.