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Preheat oven to 350°F.
Cut the King's Hawaiian rolls in half horizontally to create a top and bottom layer.
Place the bottom layer on a non-stick or lightly buttered baking pan.
In a small bowl, combine the brown sugar and cinnamon.
Spread ¼ cup of the softened butter over the bottom layer of rolls, then sprinkle ⅔ to ¾ of the sugar-cinnamon mixture evenly over the buttered rolls.
Place the top layer of rolls back on and spread the remaining ¼ cup of softened butter over the top, then sprinkle the rest of the sugar-cinnamon mixture evenly over the top.
Bake for 15 minutes.
While the rolls are baking, make the icing by combining the melted butter, powdered sugar, salt, 2-3 tbsp of milk, and vanilla extract in a medium bowl. Adjust milk as needed for desired consistency.
Once the rolls are done, transfer them to a plate and drizzle the icing over the top.