1 cup milk
1/2 cup brown sugar
1 tsp. baking soda
1/2 tsp. salt
1/2 tsp. vanilla
3 cups flour
2 tbsp. butter
2/3 cup brown sugar
1 tsp. cinnamon
1 cup powdered sugar
2-3 tbsp. milk
Mix brown sugar, baking soda, salt, vanilla, and egg. Add the milk and then the flour. Mix until just combined.
Roll the dough out onto a floured surface, so that it forms a large rectangle that is about 1/4 inch thick. The size of the rectangle will vary, but just make sure the dough is a good thickness.
Spread the dough with room temperature butter and sprinkle with the brown sugar and cinnamon filling.
Roll the dough into a log and slice into 1 to 2 inch rounds. Place the rolls into a greased 8x8 pan, so that the rolls are almost all touching.
Bake at 375 for 15 minutes or until golden.
Mix the ingredients for the icing and drizzle over warm rolls.