In a small bowl, combine warm milk (not boiling), 1 packet of active dry yeast, and 1 teaspoon of sugar. Let it sit for about 5 minutes until bubbly.

In a larger bowl, whisk together melted butter, egg, and vanilla extract. Add the yeast mixture once it becomes frothy.

In another bowl, mix the flour, granulated sugar, and salt. Gradually add the dry mixture to the wet ingredients, stirring until a smooth dough forms.

On a floured surface, knead the dough for about 5 minutes until smooth and elastic.

Place the dough in a lightly greased bowl, cover it with a clean kitchen towel, and let it rise in a warm place for about 1 hour, or until doubled in size.

In a small bowl, mix together brown sugar and ground cinnamon. Roll out the dough into a rectangle shape.

Spread the sugar mix over the dough, add chopped nuts if desired, and roll it tightly from one end to the other.

Cut the rolled dough into slices and lay them in a greased baking pan, letting them sit for a second rise (about 30 minutes).

Preheat your oven to 350°F (175°C). Bake the honey buns for 25 minutes or until golden brown.

While the buns cool, whisk the powdered sugar, milk, and vanilla extract together to create a smooth glaze. Drizzle over the warm honey buns.