In a large bowl, combine warm water and yeast. Let sit for 5 minutes until foamy.
Add sugar, melted butter, milk, egg, and salt. Mix well.
Gradually add flour and mix until a soft dough forms. Knead for 8–10 minutes until smooth.
Place dough in a greased bowl, cover, and let rise for 1 hour or until doubled.
In a bowl, mix pistachio cream, brown sugar, softened butter, vanilla, and salt until smooth.
Roll dough into a 12x18-inch rectangle on a floured surface.
Spread pistachio filling evenly over dough. Add white chocolate chips and chopped pistachios if using.
Roll tightly into a log.
Slice into 12 rolls and place in a buttered 9x13 baking dish.
Cover and let rise for 30–45 minutes until puffy.
Bake at 350°F for 22–28 minutes until lightly golden and soft in the center.
Whisk powdered sugar, milk, pistachio cream, and vanilla until smooth.
Drizzle glaze over warm rolls and serve immediately.