Dissolve the sugar in the warm water, add the yeast and stir lightly until dissolved and let rest until the yeast mix starts to ferment.
In a separate bowl, stir 110gr of butter until it becomes a cream.
Add the milk, sugar, salt, yeast mix, egg, and flour to the creamed butter and mix until the dough separates from the edges of the bowl. the dough should be soft but firm.
Sprinkle flour on a clean surface a kneed the dough for about 5 minutes. Put some more flour on the bottom of the original bowl, place the dough in and cover with a clean, moist cloth.
In a pot big enough to hold the bowl that contains the dough heat some water. Place the bowl over the steaming water and let it rest for 1.5hrs
Sprinkle flour on a clean surface, place the dough and with a rolling pin extend the dough until it is about 1 - 1 1/2 cm thick.
Whip the remaining butter and spread it over the surface of the dough
Mix the brown sugar and cinnamon powder and sprinkle over the butter layer making sure that it becomes fully covered.
Roll the dough carefully and cut into 5 cm thick wheels. Place on a baking tray and cover with a cloth for 1hr
Bake for 20-30 mins at 175C degrees
Add the milk to the confectioners sugar and mix until the mix is even.
Dip the top of the cinnamon roll in the glaze and let the excess glaze drip before letting the glaze set.