1 cup warm water (110 degrees F)1 egg3 cups bread flour1/4 cup white sugar3 tablespoons instant powdered milk1 1/2 teaspoons salt5 tablespoons butter, softened1 teaspoon instant yeast1/3 cup butter1/2 cup vanilla ice cream1/2 cup brown sugar1/2 cup butter, softened (for spreading)1 tablespoon ground cinnamon1/2 cup brown sugar