Homemade Cinnamon Rolls

Name: Homemade Cinnamon Rolls
Cuisine: European, British
Ingredients: 100g caster sugar; 1 tsp salt; 1 sachet instant yeast; 350g plain flour, sifted; 120ml water; 60ml milk; 40g unsalted butter; 1 large egg; 75g unsalted butter, at room temperature; 50g caster sugar; 1 tbsp ground cinnamon; 100g icing sugar; 1/2 tsp vanilla extract; 2-3 tbsp milk