Preheat the oven to 375°F, and prepare a 12-cup muffin pan with baking spray, set aside.

Cut each unbaked cinnamon roll into six equal pieces, and set aside.

Add the brown sugar and cinnamon to a gallon-sized Ziploc bag, seal closed, and toss to combine. Add the cinnamon roll pieces, close, and gently toss so the rolls are evenly coated. Place 8 cinnamon roll pieces into each cavity of the muffin pan, press down gently, and set aside.

Stir the butter and brown sugar in a small saucepan over low-medium heat until it begins to boil and the sugar has dissolved. Pour this mixture evenly over each set of cinnamon roll pieces (they should be in the muffin pan cavities).

Transfer the muffin pan on a baking sheet, and bake for 14-16 minutes until the glaze is bubbly and the tops of the muffins are browned and slightly crisp. The glaze may overflow the pan, so it’s important to have it on a separate baking sheet to catch any spills.

Let the muffins cool in the pan for 5-8 minutes. Take the muffins out by running a butter knife around the edge of each muffin and scooping them out underneath. Place on a wire rack to cool.

While the muffins cool, make the icing In a small bowl, use a hand mixer to mix the cream cheese and powdered sugar until smooth. Add the vanilla and milk, adding a tablespoon of milk at a time until the desired consistency is reached. The mixture should be thick but pourable, add more milk if needed.

Drizzle the icing over the muffins and serve warm or at room temperature.