Preheat Oven: Preheat your oven to 375°F (190°C). Grease a round baking dish or 9-inch pie pan.
Prepare the Dough:
In a medium bowl, combine the Bisquick mix, milk, and sugar. Stir until a soft dough forms.
On a floured surface, knead the dough a few times until smooth, then roll it out into a rectangle about ¼-inch thick.
Add the Cinnamon Filling:
Brush the melted butter over the dough rectangle.
In a small bowl, mix the brown sugar and cinnamon together. Sprinkle evenly over the buttered dough.
Roll and Cut the Dough:
Starting from one long side, carefully roll the dough into a tight log.
Slice the log into 1-inch pieces and place each roll, cut side up, in the prepared baking dish.
Bake:
Bake for 15-20 minutes, or until the rolls are golden brown and cooked through.
Make the Icing:
While the rolls bake, whisk together the powdered sugar, milk, and vanilla extract until smooth. Adjust the milk to reach your desired icing consistency.
Ice the Cinnamon Rolls:
Drizzle the icing over the warm cinnamon rolls before serving.
