Preheat the oven to 350?F (175?C). In a mixing bowl, combine the melted butter, warm milk, and beaten egg. Mix well.

Add the sliced Kings Hawaiian bread to the mixture and gently fold until the bread is coated.

In a separate bowl, mix together the brown sugar and ground cinnamon.

Spread the softened butter over the dough mixture, then sprinkle the cinnamon-sugar mixture evenly on top.

Carefully roll the dough into a log shape and slice into equal pieces. Place the rolls in a greased baking dish.

Bake in the preheated oven for 25 minutes or until golden brown.

While the rolls are baking, whisk together the powdered sugar, milk, and vanilla extract until smooth.

Once the rolls are done, drizzle the icing over the warm rolls before serving.