For the filling, in a small bowl combine softened butter, brown sugar and cinnamon to form a crumbly mixture.
Sprinkle 1/2 of the mixture over the bottom of a 9x9 pan.
In a large bowl mix together flour, sugar, baking powder, and salt.
Cut in softened butter.
Stir in milk to form a soft dough.
Roll out dough on a lightly floured into a rectangle about 1/4 inch thick.
Spread the remaining filling on the rolled out dough.
Roll up the rectangle, with a sharp knife slice into 18 small rolls (12 if you want them a little bigger).
Bake for 20-25 min at 400°F.
For the glaze, combine powdered sugar, vanilla, and milk in a small bowl and stir until smooth.
Once rolls are finished, drizzle on glaze and serve warm.