Warm the milk until lukewarm and dissolve half of the sugar in it. Crumble in the fresh yeast and let it proof for 10 minutes.
In a large bowl, combine the flour, salt, and remaining sugar. Add the proofed yeast mixture, the egg, and the melted butter. Knead until you have a smooth dough.
Cover the dough with a clean kitchen towel and let it rise in a warm place for 1 hour, or until doubled in size.
Combine the brown sugar with the cinnamon. Roll the risen dough out into a rectangle, then sprinkle evenly with the cinnamon sugar mixture.
Tightly roll up the dough like a log, then slice into 2-3 cm thick rolls.
Place the rolls in a baking pan lined with parchment paper and let them rise for another 20 minutes.
Preheat the oven to 350°F (180°C) and bake the cinnamon rolls for 20-25 minutes, or until golden brown.
Serve warm or at room temperature. If desired, drizzle with a glaze made from powdered sugar and milk.
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