FOR THE DOUGH:
1 cup whole milk
4 tablespoons sugar
2 ¼ teaspoons/7 grams active dry yeast (1/4-ounce envelope)
3 ½ cups/508 grams all-purpose flour, plus more for dusting
1 ½ teaspoons baking powder
1 ¼ teaspoons kosher salt
1 large egg, lightly beaten
6 tablespoons/85 grams unsalted butter, melted
Nonstick spray or vegetable oil, for the bowl
FOR THE FILLING AND ASSEMBLY:
1 ¼ cups/250 grams light brown sugar
2 tablespoons ground cinnamon
¼ teaspoon kosher salt
½ cup/114 grams unsalted butter (1 stick), melted
3 cups/362 grams confectioners' sugar
5 to 6 tablespoons whole milk or heavy cream
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PREPARATION