Preheat your oven to 375°F (190°C) to ensure even baking and a golden-brown finish.
In a large mixing bowl, combine the Bisquick mix and granulated sugar. Whisk them together until well blended.
Pour in the buttermilk and mix until a soft dough forms. Be careful not to overmix; it should just come together.
Lightly flour your countertop and transfer the dough onto it. Roll it out into a rectangle, approximately 1/4 inch thick.
In a small bowl, mix together the brown sugar, ground cinnamon, and melted butter until it forms a paste-like consistency.
Spread the cinnamon filling evenly over the rolled-out dough, leaving a small border around the edges.
Starting from one edge, carefully roll the dough into a log shape. Make sure to roll it tightly for even slices.
Using a sharp knife, slice the log into 12 equal pieces. Place them in a greased baking dish, cut side up.
Bake the rolls in your preheated oven for 15-20 minutes, or until golden brown and cooked through.
While the rolls are baking, whisk together the powdered sugar, melted butter, heavy cream, and vanilla extract until smooth. Adjust the cream to reach your desired consistency.
Once the rolls are done, remove them from the oven and let them cool for a few minutes. Drizzle the icing generously over the warm rolls, and they’re ready to be devoured!