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Step 1
Lightly grease 2 round cake pans with butter.
Step 2
Roll bread dough out to an 6x18-inch rectangle. Brush with melted butter. Combine brown sugar, walnuts, and cinnamon in a small bowl; sprinkle over butter. Roll dough into a log, starting at the long edge. Moisten edge with water and seal. Cut log into 20 slices; arrange rolls, cut sides down, in prepared cake pans. Cover with a towel and let rise in a warm place until doubled in volume, about 90 minutes.
Step 3
Preheat oven to 350 degrees F (175 degrees C). Pour heavy cream over dough.
Step 4
Bake in preheated oven until golden brown, about 25 minutes.
Step 5
Mix confectioners' sugar, milk, and vanilla extract in a small bowl; drizzle over warm cinnamon rolls to serve.