In a small saucepan, heat milk and butter over low heat until warm, about 110°F (43°C). Remove from heat and whisk in the beaten egg until combined.

In a large mixing bowl, combine flour, granulated sugar, yeast, and salt. Whisk until evenly mixed.

Gradually pour the warm milk mixture into the bowl with dry ingredients. Stir until a sticky dough forms.

Transfer the dough to a floured surface and knead for 5-7 minutes until smooth and elastic.

Cover the dough and let it rest for 10-15 minutes. Divide into small pieces and roll into balls.

In a bowl, mix brown sugar and cinnamon. Melt butter in another bowl. Coat each dough ball in melted butter and then in cinnamon sugar.

Grease a Bundt pan and layer the coated dough balls in a random fashion.

Preheat oven to 350°F (175°C). Bake for 30-35 minutes until golden brown and a toothpick comes out clean.

Let cool for 10 minutes, then invert onto a plate. Whisk powdered sugar, maple syrup, and milk, and drizzle over the warm bread.