Preheat Your Oven: Set your oven to 375°F (190°C) and lightly grease a small baking dish.
Prepare the Dough: In a mixing bowl, combine the flour, sugar, baking powder, and salt. Add the melted butter and milk, then mix until a soft dough forms.
Roll Out the Dough: Place the dough on a floured surface and roll it into a rectangle about ¼ inch thick.
Make the Filling: Spread the softened butter evenly over the dough. Combine the brown sugar and cinnamon, then sprinkle the mixture on top.
Shape the Rolls: Roll the dough tightly into a log. Slice it into 4 equal pieces and place them in the prepared baking dish.
Bake the Rolls: Bake for 20–25 minutes or until the rolls turn golden brown.
Prepare the Glaze: Mix the powdered sugar, milk, and vanilla extract in a small bowl until smooth.
Add the Glaze: Pour the glaze over the freshly baked rolls while they’re still warm and serve right away.