Step 1

Preheat oven to 375°F and grease a 8-inch round cake pan with nonstick cooking spray.

Step 2

In a medium bowl, mix together the Bisquick mix, egg, and milk until a soft dough forms.

Step 3

Place the dough on a floured surface and knead the dough until it is no longer sticky.

Step 4

Add more flour if needed, then roll the dough into a rectangle around ¼ inch thick.

Step 5

Combine the brown sugar, sugar, and cinnamon in a small bowl.

Step 6

Brush the top of the dough with the melted butter.

Step 7

Sprinkle the cinnamon sugar mixture over the top of the butter until the dough is completely covered.

Step 8

Carefully roll the dough into a log shape. Use a knife or pastry slicer to cut the log into 8t even pieces.

Step 9

Place each piece in the prepared baking dish and bake in the preheated oven for 20 to 25 minutes, until golden brown.

Step 10

While the cinnamon rolls are baking, make the glaze by whisking the powdered sugar, vanilla, and milk until a smooth glaze forms.

Step 11

Drizzle the glaze over the warm cinnamon rolls before serving.