In a small bowl, dissolve the yeast in warm milk with a pinch of sugar. Let it sit for 5-10 minutes until frothy.
In a large mixing bowl, combine the remaining sugar, melted butter, salt, and egg. Mix well. Add the yeast mixture and vanilla extract, then stir.
Gradually add the flour, mixing until a soft dough forms. You may need slightly more or less flour depending on the dough's consistency.
Turn the dough onto a floured surface and knead for about 5 minutes until smooth and elastic. Place the dough in a lightly greased bowl, cover with a cloth, and let it rise in a warm place for about 1-2 hours, or until doubled in size.
Preheat your oven to 375°F (190°C). Lightly grease a baking sheet.
Punch down the risen dough and divide it into equal portions (about 8-10). Roll each portion into a log about 12 inches long.
Wrap each log around a greased cylindrical mold or rolling pin, slightly overlapping the ends. If using a mold, lightly grease it before wrapping the dough. Place the wrapped dough on the prepared baking sheet.
Bake in the preheated oven for 15-20 minutes, or until golden brown. The dough should be cooked through and have a crispy exterior.
While still warm, brush the Trdelník with melted butter, then roll it in a mixture of granulated sugar and ground cinnamon.
Enjoy your meal!