Preparation Steps

• Preheat the oven to 375°F (190°C). Grease a 9-inch round or 8x8-inch square baking pan and set aside.
• In a large bowl, whisk together Bisquick, salt, and granulated sugar (if using).
• Add milk, egg, and 3 tablespoons melted butter to the dry ingredients. Stir until a soft dough forms. Do not overmix.
• Turn the dough onto a lightly floured surface and gently roll or press into a roughly 12x8-inch rectangle using a floured rolling pin or your hands.
• Spread the 4 tablespoons of softened butter evenly over the dough. In a small bowl, mix the brown sugar and cinnamon, then sprinkle it evenly over the buttered dough.
• Starting at a long edge, roll the dough tightly into a log. Pinch the seam to seal. Use a sharp knife or dental floss to cut the log into 8 equal rolls.
• Place the rolls cut-side up in the prepared pan, leaving a little space between each. Bake in the preheated oven for 18 to 22 minutes, or until golden brown and cooked through.
• While the rolls bake, make the glaze by whisking together powdered sugar, 2 tablespoons milk, and vanilla until smooth. Add a little more milk if needed to reach desired consistency.
• Remove the rolls from the oven and let them cool 5 minutes. Drizzle the glaze over the warm rolls and serve sticky and warm.