In a mixing bowl, combine warm milk, melted butter, and sugar. Stir in yeast and let it sit for 5 minutes until frothy.

Add egg and salt, then gradually mix in flour 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 together brown sugar, ground cinnamon, ground ginger, and ground cardamom.

Roll out the risen dough into a rectangle and spread softened butter over it, then sprinkle the spice mixture evenly on top.

Roll the dough tightly into a log and cut into 8 equal pieces.

Place the rolls on a greased baking sheet and let rise for another 30 minutes.

Preheat the oven to 350°F (175°C) and bake the rolls for 20-25 minutes until golden brown.

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

Drizzle the glaze over the warm cinnamon rolls before serving.