Cinnamon Rolls

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1 cup warm fat-free milk (100° to 110°)

6 tablespoons melted butter, divided

1/3 cup granulated sugar, divided

1 package quick-rise yeast

16 22/25 ounces all-purpose flour (about 3 3/4 cups)

1 large egg, lightly beaten

1/4 teaspoon salt

Cooking spray

2/3 cup packed brown sugar

1 1/2 tablespoons ground cinnamon

3 tablespoons butter, softened

2 tablespoons heavy cream

1/2 teaspoon vanilla extract

1 cup powdered sugar

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