In a large mixing bowl, combine the flour, granulated sugar, instant yeast, and salt. Whisk together until well mixed.

In a separate bowl, mix the warmed milk, melted butter, egg, and vanilla extract until combined. Pour this mixture into the dry ingredients and stir until a dough forms.

Knead the dough on a lightly floured surface for about 5 minutes until smooth. Place the dough in a greased bowl, cover with a kitchen towel, and let it rise in a warm place for about 1 hour, or until doubled in size.

Once risen, roll the dough out into a rectangle about 1/4 inch thick. Spread the almond paste evenly over the surface and sprinkle with sliced almonds.

Starting from one long side, tightly roll the dough into a log. Slice the log into 12 equal pieces and place them in a greased baking dish.

Cover the rolls with a towel and let them rise for another 30 minutes. Preheat the oven to 350°F during this time.

Bake the rolls for 20-25 minutes, or until golden brown.

While the rolls are baking, prepare the icing by whisking together the powdered sugar and milk until smooth.

Once the rolls are done baking, let them cool for a few minutes before drizzling the icing over the top.