Bisquick Cinnamon Rolls

Step 1
Preheat the oven to 450 degrees F (230 degrees C). Grease a circular baking pan or line with parchment paper.

Step 2
Combine baking mix, milk, softened butter, and sugar in a bowl. Mix until a dough forms.

Step 3
Transfer dough to a surface floured with baking mix. Knead dough 10 times. Roll dough out using a lightly floured rolling pin until it is 1/4-inch thick.

Step 4
Combine sugar, melted butter, and cinnamon in a bowl and mix until dark brown. Spoon filling onto rolled dough, spreading evenly to all edges. Roll dough inward; cut ends off and cut spiral into 12 pieces.

Step 5
Place rolls into the prepared circular baking pan so that rolls touch.

Step 6
Bake in the preheated oven until golden, 11 to 15 minutes. Let cool for 1 minute before transferring to a plate to cool completely.

Step 7
While rolls are cooling, mix confectioners' sugar and milk together in a bowl until smooth. Spoon glaze over cooled cinnamon rolls.