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

Add melted butter, egg, and salt to the yeast mixture. Gradually add flour, mixing until a soft 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 brown sugar, cinnamon, ginger, and cardamom.

Roll out the dough into a rectangle on a floured surface. Spread softened butter over the dough, then sprinkle the spice mixture evenly on top.

Starting from one long side, roll the dough tightly into a log. Cut into 8 equal pieces and place in a greased baking sheet.

Cover and let rise for another 30 minutes. Preheat the oven to 350°F (175°C).

Bake for 20-25 minutes until golden brown. Let cool slightly.

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

Drizzle the glaze over the warm cinnamon rolls before serving.