In a small bowl, stir the yeast and 2 teaspoons of the sugar into the warm water, and let stand 15 minutes.
In a large mixing bowl or stand mixer with the dough hook attached, combine the milk, egg, melted butter, salt, vanilla extract, and the remainder of the ¼ cup of sugar. Add the yeast and water mixture to the mixing bowl, and then slowly mix the flour into the wet ingredients until a dough has formed.
Spray a large mixing bowl with nonstick cooking spray. Form the dough into a large ball, and place into the prepared bowl. Cover loosely, and place in a warm spot to rise until it has doubled in size, at least 1 hour.
Spray a 13 x 9-inch baking dish with nonstick cooking spray. On a floured surface, roll the dough out into a large ¼-inch-thick rectangle.
Combine all the filling ingredients, and spread over the entire surface of the rectangle of dough.
Starting on the shortest end, roll the dough into a pinwheel, and then slice into 16 equal slices that are about ¾ inch thick. Arrange slices so that they are crowded together in the prepared baking dish. Cover, and let rise for 2 additional hours.
Preheat the oven to 350°F. Lightly spray the tops of the risen cinnamon rolls with nonstick cooking spray. Bake for 30 minutes, or until golden brown.
Prepare the glaze by using a fork to whisk together all the glaze ingredients. Let the cinnamon rolls cool for 5 minutes before drizzling with the glaze and serving.