Combine all the dry ingredients in a bowl of a stand mixer that has been fitted with a dough hook.
While mixing on slow speed, add the egg, milk and condensed milk to the dry mixture and mix until a cohesive dough starts to form. This can take around 1 minute. Use a spatula to scrape down the sides of the bowl if necessary.
Increase the speed of the mixer to medium-low and add the butter, one piece at a time, until it is fully incorporated into the mixture.
Continue to mix the dough until it is smooth and elastic. This usually takes about 2 minutes.
Transfer the dough to a lightly floured surface.
Start kneading the dough with your hands, using your fingertips to gently life and fold the edge of the dough that's farthest away from you toward the middle.
Turn the dough 90˚, then fold as the previous step again.
Repeat the process of turning and folding until the dough forms a smooth, rough dough.
Turn the dough seam side down in a lightly greased mixing bowl. You could also use a bowl that has been lined with plastic wrap. Cover tightly and let it proof until the size increase by double. Depending on where you live, this could take 1 - 2 hours.
Grease your baking pan with melted butter or cooking spray.
Gently press down on the dough to deflate it then transfer it to a lightly floured surface.
Firmly roll the dough into a square or rectangle by using a rolling pin. Make sure the length of the dough does not exceed the length of the baking pan.
Roll the dough away from you into a firm cylinder, remember to tuck the sides as you go. Pinch the seam closed tightly at the end.
Use serrated knife or pastry cutter to cut cylinder into pieces with equal thickness.
Arrange the dough seam side down into your baking pan, cover with plastic wrap and let them rise until doubled in size. Depending on where you live, this could take 1 - 2 hours.
Preheat oven to 177˚ C or 350F.
Make the egg wash by mixing the ingredients together. Lightly brush the rolls with egg wash mixture.
Bake until the rolls are golden brown, approximately 35 to 40 minutes. Remember to rotate the baking pan halfway through the process.
In a small mixing bowl, whisk all ingredients of glaze mixture together until smooth.
When the rolls are done baking, brush the top with glaze and let them cool down before serving.