Preheat oven to 375 degrees. Using a rolling pin, roll out each biscuit 3" wide. Spread each with butter.
Sprinkle with brown sugar and cinnamon.
Starting with one side, roll biscuits like a cinnamon roll. Cut 4-6 slices per biscuit.
Place on a baking sheet lined with parchment paper or a silicone baking mat, twisting each with your thumb and forefinger. Bake for 16-20 minutes until golden brown.
While the rolls are baking, prepare the icing. Combine powdered sugar, vanilla extract, and milk in a small bowl. Whisk together until smooth. Drizzle rolls with icing while warm. Serves 4.
Notes
*Unless otherwise indicated, all butter used on this recipe site is salted.