Preheat your oven to 425°F (220°C).
In a mixing bowl, combine the Bisquick baking mix and granulated sugar. Stir until well mixed.
Add ⅔ cup of milk and 2 tablespoons of melted butter to the bowl. Mix until a soft dough forms.
Lightly flour a clean surface and roll out the dough into a rectangle about ¼-inch thick.
In a separate small bowl, mix the brown sugar and ground cinnamon. Add 1 tablespoon of melted butter and mix until crumbly.
Spread the cinnamon-sugar mixture evenly over the dough rectangle.
Starting from one edge, carefully roll the dough into a tight log. Pinch the seams to seal.
Slice the rolled dough into 8 equal pieces and place them in a greased 9-inch round cake pan.
Bake the rolls in the preheated oven for 15 minutes or until golden brown. Insert a toothpick to check for doneness; it should come out clean.
While the rolls are baking, prepare the glaze by whisking together powdered sugar, 2 tablespoons of milk, and vanilla extract in a bowl until smooth.
Once baked, remove the rolls from the oven and allow them to cool slightly before drizzling with glaze.