In a large mixing bowl, add your sourdough starter, all-purpose flour, milk, sugar, oil, egg, and salt. Combine all these ingredients until a dough forms.

Knead the dough until it doesn't stick to the sides of the bowl. The kneading should take about 7-10 minutes.

Cover the bowl with a lid, a damp towel, or plastic wrap. Let the dough rise in a warm place for about 2 hours, or until it almost doubles in size. Rise times will differ depending on the temperature of your kitchen.

Place the dough onto a work surface that has been dusted with a little flour. Using a lightly floured rolling pin roll it out into a large rectangle that's about 1⁄4 inches thick.

Brush the melted butter over the dough leaving a little border around the edges.

In a small bowl, mix together cinnamon and brown sugar. Spread the cinnamon sugar mixture evenly over the dough.

Beginning with the long end, roll up the dough tightly and then cut it into about 12 slices (2-inch sections) with a sharp knife, bench scraper, fishing line, or unflavored dental floss.

Lightly grease the bottom of the skillet, pan, or 9X13-inch baking dish and place the slices inside. Alternatively, you could line your skillet pan with parchment paper. Cover the skillet with plastic wrap and let it do the second rise (or final rise) in a warm spot for about an hour.

Preheat your oven to 350°F and then brush the rolls with butter. Bake them for 25-30 minutes or until they turn golden brown.

As the cinnamon rolls bake, make the icing by mixing powdered sugar in a small bowl with butter, milk, and vanilla extract in a small bowl

Drizzle the icing generously on top of the warm fluffy cinnamon rolls and enjoy!