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Preheat oven to 170 deg C.
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Line a 20x25cm (8"x10") pan with baking paper.
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In a large bowl, combine flour, sugar and salt.
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Dissolve the yeast in a measuring cup filled with the warmed milk, then stir milk mixture, vegetable oil, vanilla extract and egg into the flour mixture.
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Mix well, until very smooth.
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Pour into prepared pan and let rest for 15 minutes.
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While the dough rests, mix together melted butter, brown sugar and cinnamon.
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Spread evenly on top of rested dough and swirl the mixture into the dough with a knife.
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Bake for about 30 minutes, until bread is lightly browned at the edges and the center of the bread springs back when lightly pressed. Some of the sugar mixture on top may still be bubbling.
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Mix the icing sugar and milk together to form an icing and drizzle it onto the bread.
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Serve warm.