In a small saucepan, gently warm the milk until it’s just warm to the touch, around 110°F (43°C). Remove from heat, stir in sugar, and sprinkle the active dry yeast on top. Allow it to rest for 10 minutes until it becomes frothy.

In a large mixing bowl, whisk together the all-purpose flour and salt. Create a well in the center and pour in the melted unsalted butter, egg, and the frothy yeast mixture. Mix until a shaggy dough forms, then knead for 8-10 minutes until smooth and elastic.

Shape the kneaded dough into a ball and place it in a greased bowl, covering with a clean kitchen towel. Let it rise for about 1 hour, or until doubled in size.

While the dough rises, mix filling ingredients in a medium bowl. Set aside.

Once the dough has risen, punch it down, roll it out into a rectangle, spread with softened butter, and sprinkle filling across. Roll tightly and cut into 8-10 slices.

Arrange the sliced rolls in a greased baking dish, cover with a towel, and let rise for about 30-40 minutes, or until puffy.

Preheat oven to 350°F (175°C). Bake the rolls for 25-30 minutes until golden brown and firm.

While baking, prepare glaze by melting butter and stirring in brown sugar, espresso, and cream until thickened. Remove from heat and stir in vanilla extract.

Drizzle warm glaze over the hot rolls immediately after baking.