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Mix the biscuit mix and milk together until you have a nice sticky dough.
Spread a little flour out on a clean surface, and knead your dough just enough so it's not sticky anymore.
Roll out the dough to about 1/4 inch thickness.
Mix the sugar and cinnamon together.
Brush the melted butter onto the dough; then sprinkle it with your sugar/cinnamon mixture.
Roll the dough tightly into a log. Then cut it into 1-inch slices.
Place each slice upright in a foil pie plate.
Once your pie plate is full, just cover it with plastic wrap, and then place the whole pie plate down in a plastic gallon bag, seal it, and place it in your cooler.
For the icing, just mix together the ingredients, per the recipe link in the ingredients; you can cut the recipe down so you don't make quite so much.
Once your icing is made, you can store it in a simple squeeze bottle with a lid and tip cover.
Either way you cook your cinnamon rolls, when they're done, just squeeze on the icing, and they're ready to eat! Yum!
For Dutch oven cinnamon rolls, you can make a sling with aluminum foil, then place your uncovered foil pie plate into the Dutch oven. We like to add a few jar rings to our Dutch oven, so our pan isn't sitting directly on the bottom of the Dutch oven.
You can cook them over a campfire, using a tripod*, or on the grill.
Let them cook for probably 10 minutes or a little more. Just check them frequently to make sure they don't burn.
Spray the inside of your pie iron with cooking spray.
Place 2 or more cinnamon rolls inside, close it up, and hold it over the grill or fire.
Cook the cinnamon rolls for around 10 minutes. Just check them frequently to make sure they don't burn.