Creating these delicious Oreo Cinnamon Rolls is simple if you follow these clear steps:

1. Activate Yeast: In a small bowl, combine warm milk, granulated sugar, and yeast. Let it sit for 5-10 minutes until frothy.
2. Mix Wet Ingredients: In a large mixing bowl, whisk together the melted butter, egg, and salt.
3. Combine Mixtures: Add the activated yeast mixture to the wet ingredients and mix well.
4. Add Flour: Gradually add the flour, one cup at a time, until a dough forms.
5. Knead Dough: Turn the dough onto a floured surface and knead for about 5-7 minutes until smooth and elastic.
6. First Rise: Place the dough in a greased bowl, cover with a clean towel, and let it rise in a warm place for about 1 hour, or until doubled in size.
7. Prepare Filling: In a small bowl, combine brown sugar, ground cinnamon, and crushed Oreo cookies.
8. Roll Out Dough: After the dough has risen, punch it down and roll it out into a rectangle (about 12×18 inches).
9. Spread Filling: Evenly spread the filling mixture over the rolled-out dough.
10. Roll Up: Starting from one long edge, roll the dough tightly into a log.
11. Cut Rolls: Slice the log into 12 equal pieces and place them in a greased 9×13 inch baking dish.
12. Second Rise: Cover the rolls with a towel and let them rise for another 30 minutes.
13. Preheat Oven: Preheat your oven to 350°F (175°C).
14. Bake: Bake the rolls in the preheated oven for 25-30 minutes, or until golden brown.
15. Make Glaze: While the rolls bake, whisk together powdered sugar, milk, and vanilla extract until smooth.
16. Glaze Rolls: Remove the rolls from the oven and drizzle the glaze over the warm rolls. Top with additional crushed Oreo cookies if desired.

Following these steps will help you create the most delicious Oreo Cinnamon Rolls that everyone will love.