In a mixing bowl, combine warm milk with active dry yeast and let it sit for 5-10 minutes until frothy.

In a separate bowl, whisk together all-purpose flour, granulated sugar, butter, egg, and salt. Gradually add the yeast mixture.

Turn the dough onto a floured surface and knead for about 5-7 minutes until it becomes smooth and elastic.

Place the kneaded dough in a greased bowl, cover with a kitchen towel, and let it rise in a warm area for about 1 hour.

Crush the chocolate sandwich cookies into fine crumbs and mix with brown sugar, softened butter, and vanilla extract.

After the dough has risen, punch it down gently and turn it out onto a floured surface. Roll the dough into a rectangle.

Spread the cookie filling evenly over the rolled-out dough, then roll it tightly from the longer side.

Cut the rolled log into about 12 equal slices and arrange them cut-side up in a greased baking dish.

Cover with a towel and let them rise again for about 30 minutes until puffy.

Preheat your oven to 350°F and bake for 20-25 minutes until golden brown.

Once baked, cool for 5-10 minutes, then whisk together powdered sugar, milk, and vanilla for icing.

Pour the icing over the warm cinnamon rolls.