In a mixing bowl, combine warm water, dry active yeast, and granulated sugar. Stir gently and let it proof for about 5 minutes until frothy.

Add all-purpose flour and salt to the mixture, and mix until a soft dough forms. Knead for 5-7 minutes until smooth and elastic.

Grease a bowl, place the dough inside, and cover with a damp cloth. Let it rise in a warm place for 10 minutes.

Roll the dough out into a 12x18 inch rectangle, brush with melted butter, and sprinkle brown sugar and cinnamon over the top. Roll tightly into a log.

Slice the rolled dough down the center, twist the halves together, and tuck the ends to form a loaf shape. Let it rise for another 20 minutes.

Preheat the oven to 375°F (190°C) and bake for 23-25 minutes until golden brown.

Cool the loaf in the pan for 5 minutes, then mix powdered sugar, heavy cream, and vanilla extract for the glaze and drizzle over the warm loaf.