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Preheat oven to 350°F. Grease a 9x13 baking dish and set aside.
In a large mixing bowl, combine the cake mix, pudding mix, milk, eggs, and melted butter. Mix until well incorporated. Pour into baking dish.
Next, begin making the Cinnamon Roll Filling. In a medium bowl, combine the brown sugar, cinnamon, and flour, then whisk together. Pour the melted butter over the cinnamon brown sugar mixture and mix until well combined. If using nuts, stir them into the filling.
Pour the Cinnamon Roll Filling on top of the cake batter in even rows across the top. Using a butter knife, swirl the Cinnamon Roll mixture into the batter. Careful not to over swirl the mixture, just a few good swirls should do.
Bake for 23-28 minutes, or until a toothpick inserted into the center of the cake comes out clean.
While the cake is cooling for a few minutes, make the icing. In a small bowl, add powdered sugar, milk and vanilla extract. Whisk together until smooth, leaving no lumps of powdered sugar.
Drizzle glaze over warm cake and serve immediately.