In a bowl, combine warm milk and granulated sugar, stirring until sugar is dissolved.
Sprinkle the yeast over the milk mixture and let it sit for about 5-10 minutes until frothy.
In a large bowl or stand mixer, combine the flour and salt.
Add the EVOO, egg, and yeast mixture to the flour.
Mix until a dough forms and knead for about 10 minutes by hand or 5-7 minutes with a dough hook attachment on a stand mixer, until the dough is smooth and elastic.
Form the dough into a ball and place it in a bowl greased with a little EVOO, covering it with a clean kitchen towel.
Let it rise in a warm place for about 1 to 1.5 hours or until it has doubled in size.
In a bowl, mix together the brown sugar and cinnamon.
Keep the EVOO separate to spread over the dough.
Once the dough has risen, preheat your oven to 350°F.
Roll out the dough on a floured surface into a large rectangle, about 1/4 inch thick.
Brush the dough with EVOO and sprinkle the cinnamon-sugar mixture evenly over the top.
Roll the dough tightly from the long side, forming a log.
Cut the log into equal pieces, about 1.5 inches thick, to form individual rolls.
Place the rolls in a greased baking dish, cover them with a kitchen towel, and let them rise again for about 30 minutes.
Bake the cinnamon rolls in the preheated oven for about 25-30 minutes or until golden brown.
While the rolls are baking, whisk together the powdered sugar, milk, and balsamic to make the icing.
Once the cinnamon rolls are out of the oven, let them cool for a few minutes before drizzling the icing over the top.
