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Preheat the oven to 375°F (190°C) and line a loaf pan with parchment paper or lightly grease it with butter.
In a mixing bowl, whisk together the flour, salt, and baking powder.
Mix the milk and vanilla in a cup and pour into the flour mixture. Combine to form a dough ball, transfer to a lightly floured work surface, and knead for a few minutes until soft and smooth.
Roll the dough into a log about 10 inches long. Press down slightly to flatten to about 2 inches wide, then cut into 10 pieces. Cut each piece in half for a total of 20 bite-sized pieces.
Place the dough pieces in a bowl, pour the melted butter over them, and gently toss so each piece is coated in butter.
In a separate bowl, mix the cinnamon and sugar together, then pour over the buttered pieces. Toss again, making sure every piece is covered in cinnamon sugar.
Transfer to the prepared loaf pan, laying them flat so they are not stacked, and bake for 8-10 minutes until the inside is airy and fluffy.
While they bake, make the glaze by mixing together the powdered sugar, milk, and vanilla. Adjust to desired sweetness and consistency.
When the cinnamon roll bites are ready, let them cool for a few minutes and then drizzle with the glaze. Enjoy warm.