Heat the milk to 37°C/98° F , add the yeast and sugar. Allow the yeast to activate.
Once the yeast has formed a foam on the surface of the milk, add the vanilla essence, cardamom, and flour. Knead the dough, incorporating the soft butter and salt. A planetary mixer is life changing when it comes to doughs 😊
Transfer the dough to a lightly oiled bowl, cover with a foil/shower cap and let it rise for an hour in a warm place.
When the dough has doubled its volume, roll it out into a rectangular sheet with an even thickness of ~1 cm (~1/2 inch).
Mix the butter, sugar, and cinnamon and spread it over the dough sheet.
Roll the dough lengthwise and cut the roll into twelve 4 cm (1½ inch) thick pieces with a sharp knife.
Transfer the rolls to a parchment paper-lined pan and cover with a towel. Leave to rise for another 30 minutes.
Preheat the oven to 180° C/356° F, top and bottom heating.
Brush the rolls with egg, sprinkle with granulated sugar, and bake in the preheated oven for 35-40 minutes.
Eat the rolls hot or cold with a good cup of milky coffee.