**Preheat Oven:** Preheat your oven to 375°F (190°C).
**Make the Dough:**
- In a large bowl, mix together the flour, sugar, baking powder, and salt.
- Add the milk, melted butter, and vanilla extract. Stir until the dough comes together.
**Roll Out the Dough:**
- On a floured surface, roll the dough into a rectangle about 1/4 inch thick.
**Prepare the Filling:**
- Spread the softened butter over the rolled-out dough.
- In a small bowl, mix the brown sugar and cinnamon, then sprinkle it evenly over the butter.
**Roll Up:**
- Starting from one long side, roll the dough tightly into a log.
- Cut the log into 1-inch thick slices.
**Bake:**
- Place the rolls in a greased baking dish and bake for 15-20 minutes, or until golden brown.
**Make the Icing:**
- In a bowl, combine powdered sugar, milk, and vanilla extract. Mix until smooth.
**Drizzle and Serve:**
- Once the rolls are done, drizzle the icing over the warm rolls and enjoy!