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Preheat oven to 350°F. Grease a 9-inch round cake pan or baking dish.
For filling, in a small bowl combine brown sugar, cinnamon, and salt.
On a lightly floured surface, roll dough into a 12x6-inch rectangle.
Spread with butter and sprinkle with filling, leaving a ½-inch border on one long side; pat gently.
Tightly roll up, starting from filled long side, and seal seam with fingertips.
Cut into 8 slices. Arrange cut sides up in prepared pan.
Press down gently on each roll to flatten slightly.
Brush 2 Tbsp. of the milk over tops and sides of rolls.
Bake until lightly golden and cooked through, 25 to 30 minutes.
Cool in pan on a wire rack 5 minutes.
Whisk cream cheese with the remaining 1 Tbsp. milk until nearly smooth.
Whisk in powdered sugar until smooth and of glazing consistency.
Spread over cinnamon rolls. Serve warm.