Combine the yeast and 2 tsp (10 g) brown sugar to obtain a runny consistency. Mix with 1/3 of the milk and leave it aside. Melt the butter in a microwave. Mix all the ingredients for the dough, melted butter and activated yeast together. If needed, add a little more flour, for the dough to stiffen up.
For the filling: Melt the butter and mix it with the cinnamon and sugar.
Roll the dough out into a rectangle and add the filling. Wrap into a roll and divide it into 10 parts using a dough scraper.
Lay out baking paper in an oven dish and transfer the rolls into it. Put the oven dish in a warm area for 1 hour for the rolls to rise.
Heat the oven to 392°F (200 °C). Put them to bake for 15 min.
For the glaze: Mix all the ingredients to a liquid consistency.
Once the rolls are baked to a golden brown, pour the glaze over them and serve warm.