Pseudo Cinnamon Rolls

I really like cinnamon rolls, but always seem to mess them up when I make them. This recipe tastes exactly like cinnamon rolls, but doesn't require any rising or rolling or tricky stuff. So basically it is a lot less work, but tastes just as scrumptious. I will be making this a lot!

1 1/2 cups flour
1/3 cup sugar
1/4 tsp salt
4 tsp active dry or rapid rise yeast
2/3 cup warm milk
3 Tbsp vegetable oil
1/2 tsp vanilla
1 large egg

Filling:
3 Tbsp butter, softened
3/4 cups brown sugar
1 tsp ground cinnamon
1/4 tsp ginger

Icing:
1 cup powdered sugar
2 Tbsp milk (more if you like your icing more runny)

1. Grease an 8x8-inch square baking pan.
2. In a mixing bowl, combine flour, sugar and salt. Dissolve yeast in a liquid measuring cup filled with warm milk (I microwaved the milk before I added the yeast). Then stir milk mixture, vegetable oil, vanilla and egg into the flour mixture. Mix until very smooth.
3. Pour into prepared pan and let rest for 15 minutes.
4. While the dough rests, mix together the filling ingredients using a fork until all the butter has been incorporated into the sugar and mixture is crumbly. Sprinkle evenly on top of rested dough and press the mixture down into the dough. You can swirl it through the batter if you like.
5. Bake for about 30 minutes or until bread is lightly browned at the edges and the center of the bread springs back when lightly pressed. Bake at 350 degrees. Do not preheat. Just put pan in cold oven and then bake at 350.
6. Cool for 20-25 minutes.
7. Whisk the powdered sugar and milk together to make icing. Drizzle icing over warm bread.
8. Serve warm.