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Preheat oven to 350°
Mix dry dough ingredients in a bowl, then mix in wet until combined.
Separate dough into two balls and place on a powdered, flat surface.
Pat dough into two long strips. (~2 inches thick).
Sprinkle surface of dough with flour as you work.
Cut into nice strips, and you may use the remaining dough to make a third strip.
Coat each dough strip in cinnamon and brown sugar.
Roll the first strip, then place on the second and continue to roll, then place on the third and finish rolling.
Place cinnamon roll in an oven-safe dish and bake for 35-40 minutes.
Remove from oven when slightly golden brown and firm to the touch.
While roll is cooling, prepare the icing by whisking ingredients in a bowl.
Drown roll in icing, and enjoy!