Stir the warm milk, sugar, and yeast in a large bowl. Let sit 5 to 10 minutes until frothy.

Whisk in the melted butter, egg, and vanilla. Add 2 cups of flour and the salt, mixing to combine. Gradually stir in the remaining flour until you have a soft, slightly sticky dough.

Turn the dough onto a floured surface and knead for 6 to 8 minutes until smooth and elastic.

Place the dough in a greased bowl, cover with a towel, and let rise in a warm spot until doubled, about 1 to 1 1/2 hours.

Punch down the dough and roll it into a large rectangle about 12 by 18 inches. Spread the softened butter evenly, then sprinkle the brown sugar and cinnamon mixture across the surface.

Roll the dough tightly into a log and shape into a crown.

Let the shaped cake rise for 30 to 45 minutes until puffy. Preheat the oven to 350°F (175°C).

Brush the top lightly with melted butter and bake 25 to 30 minutes until golden brown.

Let the cake cool for 10 minutes, then drizzle the glaze over the cake.