Combine the warm milk, granulated sugar, and instant yeast in a mixing bowl. Let sit for 5-10 minutes until frothy.

In another bowl, whisk together the flour and salt. Create a well in the center and add melted butter, egg, and the activated yeast mixture.

Gradually add the dry ingredients to the wet mixture, stirring until a soft dough forms. Knead the dough on a floured surface for about 5 minutes until smooth and elastic.

Place the dough in a greased bowl, cover with a damp cloth, and let rise for about 1 hour, or until doubled in size.

Preheat your oven to 350°F (175°C).

Roll out the dough into a rectangle about 1/4-inch thick, and generously spread with melted butter.

Mix together the brown sugar and ground cinnamon, then sprinkle over the rolled-out dough.

Starting from one end, tightly roll the dough into a log and cut into 12 equal pieces.

Place the rolls in a greased baking dish, cover them, and let rise for an additional 30 minutes.

Bake in the preheated oven for 20-25 minutes, or until golden brown.

Whisk together the sweetened condensed milk, evaporated milk, and whole milk. Pour over the rolls while still hot, and let sit for at least 30 minutes.

Dust rolls with powdered sugar before serving.