Activate yeast in warm milk with sugar until foamy.

Mix in butter, egg, salt, and flour to form dough; knead until smooth.

Let dough rise until doubled.

Prepare caramel sauce and pour into baking dish.

Roll dough, fill with cinnamon sugar, slice into buns.

Place buns over caramel and let rise again.

Bake until golden and bubbling.

Invert warm buns onto serving platter and serve.