Cooking spray
(1/4-oz.) package active dry yeast
whole milk, heated to 110°
(570 g.) all-purpose flour, plus more for surface
(105 g.) packed light brown sugar
kosher salt
large eggs
unsalted butter, softened
(1 stick) unsalted butter, softened, plus more for pan
All-purpose flour, for dusting
(400 g.) granulated sugar
ground cinnamon
(230 g.) confectioners' sugar
heavy cream
pure vanilla extract
In a large bowl, mix confectioners' sugar, cream, and vanilla until smooth. Spoon over warm bread.