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In a large mixing bowl with a hand mixer, or in the bowl of your stand mixer with a paddle attachment, beat the cream cheese and butter together on medium-high speed, for about 2 minutes until smooth and combined.
Add in the confectioners sugar, about a ½ cup at a time and mix on low speed until combined.
Then beat in vanilla extract until combined. Beat on medium-high speed for about an extra 1-2 minutes until fluffy and light in texture. Add milk, if using (add one tablespoon and mix, then add a little bit more if you want it a bit thinner).
Spread the cinnamon rolls with the cream cheese icing. I like to ice the rolls while they are still slightly warm so the icing melts on top of the rolls a bit.
In a small mixing bowl, whisk together the glaze ingredients.
You can adjust the consistency by adding a little more milk if its' too thick or more sugar if it's too thin.
Then spread the glaze on top of the rolls (I like to do this while they are still a bit warm).