Warm 1 cup of milk until lukewarm and dissolve ¼ cup of granulated sugar. Sprinkle in 2 tablespoons of instant yeast and let sit for 5-10 minutes until frothy.

In a mixing bowl, combine 3 ½ cups of flour, ½ teaspoon of salt, ¼ cup of melted butter, and 1 beaten egg. Pour in yeast mixture and mix to form dough.

Transfer dough to floured surface and knead for 8-10 minutes until smooth and elastic. Shape into a ball and place in a greased bowl. Let rise for 1 hour.

Crush 1 ½ cups of chocolate sandwich cookies into a coarse mixture. Mix with ¼ cup of softened butter, ½ cup of brown sugar, and 1 teaspoon of vanilla extract.

After the dough rises, punch it down and roll into a 16x12 inch rectangle. Spread cookie filling evenly over the dough and roll tightly into a log.

Slice the rolled dough into 12 equal pieces, each about 1 ½ inches thick. Place rolls in a greased baking dish and let rise for 30 minutes.

Preheat oven to 350°F (175°C). Bake for 20-25 minutes until golden brown and hollow when tapped. Let cool slightly in the dish.

In a small bowl, whisk together 1 cup of powdered sugar, 2 tablespoons of milk, and ½ teaspoon of vanilla extract until smooth.

Drizzle icing over warm rolls and allow to cool slightly before serving.