In a mixing bowl, combine warm milk, sugar, and yeast. Let it sit for 5 minutes until frothy.

Add melted butter, egg, flour, and salt to the yeast mixture. Mix until a dough forms.

Knead the dough on a floured surface for about 5 minutes until smooth. Place in a greased bowl, cover, and let rise for 1 hour.

In a small bowl, mix Biscoff cookie butter, cinnamon, and brown sugar until well combined.

Preheat the oven to 350°F (175°C).

Roll out the dough on a floured surface into a rectangle about 1/4 inch thick.

Spread the Biscoff filling evenly over the dough, then roll it up tightly from the long side.

Cut the rolled dough into 8 equal pieces and place them in a greased baking dish.

Cover and let rise for another 30 minutes.

Bake in the preheated oven for 20-25 minutes until golden brown.

In a bowl, whisk together powdered sugar, milk, and vanilla until smooth.

Drizzle the glaze over the warm cinnamon rolls and serve immediately.