Preheat the oven to 375°F. Grease or line a small baking pan with parchment paper.
In a medium bowl, whisk together the flour, baking powder, salt, and cinnamon.
Warm the milk slightly, then stir in the vanilla and melted butter.
Pour the wet ingredients into the dry ingredients and mix just until a soft dough forms. Do not overmix.
Lightly flour a work surface. Roll the dough into a log, flatten slightly, and cut into 20 even pieces.
Add the melted butter to one small bowl. In a separate small bowl, stir together the sugar and cinnamon.
Toss each piece of dough in the melted butter, then coat fully in the cinnamon sugar.
Arrange the pieces in the prepared pan in a single layer, leaving a little space between each piece. Do not stack.
Bake for 9 to 10 minutes, or until lightly golden and just set. Do not overbake.
While the bites bake, whisk together the powdered sugar, heavy cream, vanilla, and vanilla bean paste until smooth. Add a little more heavy cream, if needed, to reach a drizzly consistency.
Let the cinnamon roll bites cool for 1 to 2 minutes, then drizzle the glaze over the top while warm. Serve immediately.
