In a small bowl, combine warm milk, granulated sugar, and active dry yeast. Let it sit for 5 to 10 minutes until frothy.

In a large mixing bowl, whisk together gluten-free flour and salt. Once yeast mixture is frothy, add it along with melted butter, eggs, and vanilla extract to the flour mixture. Stir until a sticky dough forms.

Cover the dough and place in a warm area for 45 to 60 minutes until puffed up.

Create the filling by mixing brown sugar and ground cinnamon in a small bowl.

Turn out the dough onto a floured surface, roll it into a rectangle, brush with melted butter, and sprinkle the cinnamon-sugar mixture.

Cut the dough into 1 inch wide strips, stack them, and cut into squares.

Grease a loaf pan and arrange the stacked squares vertically. Let it rise for about 20 minutes.

Preheat the oven to 350°F and bake for 30 to 35 minutes until golden brown.

Cool in the pan for 10 minutes. Prepare the glaze by whisking powdered sugar and milk, then drizzle over the loaf.