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Preheat oven to 375 degrees Fahrenheit. Grease the bottom and sides of a 13x9-inch baking pan.
In a small bowl, mix together 2 tablespoons of sugar and the cinnamon and set to the side.
In a large bowl, combine the Bisquick mix, ⅔ cups milk, and 2 tablespoons sugar until a dough forms. Mix in more Bisquick (up to ¼ cup) if the dough is too sticky.
Spread some of the Bisquick mix onto a flat surface. Gently roll the dough onto the coated surface so that it gets thoroughly coated. Shape the dough into a ball and knead 10 times.
Using a rolling pin, spread the dough into a 15x9-inch rectangle. Spread butter onto the dough and sprinkle the cinnamon-sugar mixture evenly onto the surface.
Roll the dough tightly into a log beginning at the wider side. Pinch the edges to seal the roll. Cut the log into 1 ¼-inch slices and place them cut side down in the baking pan.
Bake for 23-25 minutes or until golden brown.
Cool for about 5 minutes and then remove the rolls from the pan.
In a separate bowl, mix the powdered sugar and 2 tablespoons milk until it turns into a smooth glaze. Pour glaze over the warm rolls.