In a mixing bowl, combine the flour, granulated sugar, yeast, and salt.

In a small saucepan, heat the milk, water, and unsalted butter until warm (but not hot!). Stir the warm liquid into the dry ingredients.

Add in the egg and mix until the dough starts to come together.

Transfer the dough onto a floured surface and knead for about 5-7 minutes until smooth and elastic.

Place the dough in a lightly greased bowl, cover it with a clean kitchen towel, and let it rise in a warm place for about 1 hour or until it doubles in size.

In a separate bowl, combine the cinnamon and brown sugar.

Once the dough has risen, punch it down to release air, then roll it out into a rectangle about 1/4 inch thick.

Spread the cinnamon and sugar mixture evenly over the rolled-out dough.

Starting from one end, carefully roll the dough tightly into a log shape.

Slice the log into 12 equal pieces and place them in a greased baking dish.

Cover and let them rise for an additional 30 minutes.

Preheat your oven to 350°F (175°C).

Bake the rolls for about 20-25 minutes or until they are golden brown.

In a small bowl, mix the powdered sugar and milk until smooth.

Drizzle the glaze over the warm cinnamon rolls before serving.