In a mixing bowl (use a dough hook for mixer), add the warm milk (or warm water and milk powder), sugar and yeast and stir. Let the yeast bloom (until bubbly which takes around 5 minutes).
Once the yeast has activated, add the remaining dough ingredients to the bowl and mix until it forms a dough ball around the dough hook, or if you are hand kneading until the dough has come together.
Continue to knead for 2 minutes.
Set aside for 1 hour in a warm spot or until doubled in size.
Once the dough has risen, roll it on a floured surface into a rectangle shape. It should be even in size and thickness (roughly 50cm by 30cm).
To make the cinnamon butter, take the softened butter and spread it over the dough. Next, sprinkle the cinnamon and brown sugar over the top of the butter ensuring the surface of the dough is completely covered.
Roll up the longer side of the dough and make the log even in shape.
Cut it into either 8 bigger scrolls or 16 equal sized pieces.
Place the scrolls on a tray lined with baking paper, cover and allow to double in size again for around 1 hour.
Preheat oven to 180℃ fan bake and bake for 12-15 minutes, until lightly browned and cooked through.
To make the icing, combine the icing sugar, vanilla essence and water in a bowl. The icing can either be a runny consistency (like paint) or a thicker more spreadable icing. Just play around with the water measurement to reach your desired consistency.
Once the scrolls have cooled, spread or drizzle the icing over the top. Enjoy