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Lightly grease two 9-inch round cake pans with 1 tablespoon melted butter; set aside.
Roll bread dough out to an 18x6-inch rectangle and brush with remaining tablespoon melted butter. Mix brown sugar, walnuts, and cinnamon in a bowl; sprinkle over dough. Roll dough into a log, starting at a long edge. Moisten the other long edge with a little water; press to seal.
Cut log into 20 slices. Arrange rolls, cut-sides down, in the prepared cake pans. Cover with a towel and let rise in a warm place until doubled in size, about 1 ½ hours.
Preheat the oven to 350 degrees F (175 degrees C).
Pour heavy cream over rolls.
Bake in the preheated oven until golden brown, about 25 minutes.
Make icing: Stir confectioners' sugar, milk, and vanilla in a bowl until smooth and pourable. Add more milk or sugar as needed to reach desired consistency.
Drizzle icing over warm cinnamon rolls.