Combine the Kings Hawaiian Sweet Bread pieces with warm milk, a beaten egg, and vanilla extract in a mixing bowl.
Set aside the mixture for about 10 minutes.
Mix together brown sugar and ground cinnamon in a separate bowl.
Spread softened butter generously over the dough mixture, then sprinkle the cinnamon-sugar mixture evenly on top.
Shape the dough into a log by rolling it tightly, then cut it into equal pieces.
Place the rolls in a greased baking dish and let them rise for approximately 20 minutes.
Preheat your oven to 350°F (175°C), then bake the rolls for 25 minutes.
Whisk powdered sugar with milk and vanilla extract in a bowl until smooth.
Drizzle the icing over warm cinnamon rolls just before serving.