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

Add melted butter, sugar, egg, and salt to the yeast mixture. Mix well.

Gradually add flour, mixing until a soft dough forms. Knead for about 5 minutes until smooth.

Cover the bowl with a cloth and let the dough rise in a warm place for 1 hour or until doubled in size.

In a saucepan, combine brown sugar, butter, and corn syrup. Cook over medium heat until melted and smooth.

Remove from heat and stir in vanilla extract. Pour the caramel sauce into a greased baking dish.

Roll out the dough on a floured surface into a rectangle.

Spread softened butter over the dough, then sprinkle with brown sugar and cinnamon.

Roll the dough tightly and cut into 1-inch pieces. Place the rolls in the baking dish over the caramel sauce.

Cover and let rise for another 30 minutes.

Preheat the oven to 350°F (175°C).

Bake the rolls for 25 minutes or until golden brown.

Let cool for a few minutes before inverting onto a serving platter.