Preheat oven to 375 degrees F.
Unroll the pizza dough, cut into four even squares and place on a greased cookie sheet. Brush two of the squares with 3 Tbsp melted butter.
Combine the sugar & cinnamon in a small bowl, reserve 1 Tbsp for topping at the end. Sprinkle the rest of the mixture over the two squares of buttered pizza dough. Top with the two non-buttered squares of dough. Press edges together.
Cut each square into 6 strips and brush with the remaining 1 Tbsp of butter. Twist each strip a few times and place on cookie sheet. Sprinkle reserved cinnamon sugar mixture on top.
Place baking sheet in preheated oven at 375 degrees F. Bake for 10-12 minutes or until golden brown.
While twists are combine powdered sugar, milk and vanilla extract in small bowl until smooth. Drizzle over warm twists and serve.
