In a small bowl, combine warm milk, yeast, and a pinch of sugar. Let sit for 5 minutes until frothy.

In a large bowl, whisk flour, sugar, and salt. Add the activated yeast, melted butter, water, and egg. Mix until cohesive.

Knead the dough on a floured surface for 5-7 minutes until smooth. Let rise in a greased bowl for 1 hour until doubled.

In a medium bowl, mix Biscoff cookie butter, softened butter, brown sugar, and cinnamon until smooth.

Roll out the dough into a 12x18 inch rectangle. Spread the filling, roll tightly, and cut into 12 slices.

Place rolls in a greased baking dish. Cover and let rise for another 30 minutes while preheating the oven to 350°F.

Bake the rolls for 20-25 minutes until golden brown. Allow to cool slightly.

In a bowl, beat cream cheese, Biscoff cookie butter, powdered sugar, and vanilla until smooth. Adjust with milk as necessary.

Drizzle icing over warm rolls and serve.