In a bowl, mix together milk, powdered milk, egg, sugar and yeast. Mix well. Add flour and salt, mix together until incorporated.
Add softened butter, mix until butter is fully absorbed. Knead dough until smooth. My favorite is slap and fold. Form into a ball and place in an oiled bowl. Cover for 1 hour or until doubled in size.
For the Filling: Mix together butter, dark brown sugar, cinnamon powder and vanilla until smooth. Set aside.
Punch air out. Transfer to a floured counter. Roll out into a rectangular shape. Spread filling evenly.
Roll into a log. Cut into 10 to 12 equal rolls.
Place cut rolls in a greased 9x5" baking loaf dish in a criss-cross pattern.
Cover for 30 minutes. Preheat oven for 15 minutes at 170C/340F.
Brush risen rolls with milk.
Bake for 30 minutes or until light golden brown.
Serve and enjoy!