In a mixing bowl, combine warm milk, yeast, and softened butter. Let sit for about 5 minutes until frothy.

Mix in the egg and sugar, followed by salt and flour until the dough becomes shaggy.

Transfer the dough to a greased bowl, cover with a clean towel, and let it rise in a warm spot for about 20 minutes.

Prepare the cherry filling by mixing cherry filling with cornstarch in a bowl.

Lightly knead the dough on a floured surface for a minute. Roll into a 16x12 inch rectangle.

Sprinkle cinnamon and sugar over the rolled-out dough, then spread cherry filling evenly. Roll tightly and cut into 12 pieces.

Arrange rolls in a greased baking dish, cover, and let rise for another 15-20 minutes.

Preheat oven to 375°F. Bake the rolls for 25-45 minutes until golden brown.

Sift icing sugar into a bowl. Whisk in milk and vanilla extract until smooth.

Let the rolls cool for 5 minutes before drizzling with icing.