Prepare the oven by placing a sheet of foil or a large baking sheet on the bottom rack to catch drippings, then preheat it to 375°F. Spray a 12 cup muffin tin with non-stick cooking spray.
Add the brown sugar and cinnamon to a large ziplock bag, close, and shake to combine well.
2/3 cup light brown sugar, 1 tsp ground cinnamon
Separate the cinnamon rolls out and cut each one into 6 equal pieces, add pieces to the ziplock bag. Shake gently to coat all pieces with the cinnamon sugar mixture.
2 cans refrigerated cinnamon rolls
Place 8 pieces of coated dough into each muffin cup and press gently into cups.
Glaze
Combine butter and brown sugar in a small saucepan and heat over medium-low heat, stirring constantly, until it comes to a boil.
1/2 cup unsalted butter, 1/2 cup light brown sugar
Pour melted butter mixture over each muffin then bake for 14-16 minutes, until the tops are browned and crisp. It's likely they will bubble over the edges so make sure you've put something under it to catch the overflow.
Let the muffins cool in the tin for 5-8 minutes, then run a knife around the edges and gently lift the muffins out of the pan and place on a wire rack to finish cooling.
Icing
Beat cream cheese until smooth, then add the vanilla and mix again.
2 ounces cream cheese, 1/4 tsp vanilla extract
Slowly mix in the powdered sugar until it is all smooth and creamy.
1 cup powdered sugar
Add just enough milk to get a good consistency to drizzle the icing.
1-2 TBS milk
Drizzle the icing over the muffins and serve!
Notes
Store leftover muffins in an airtight container at room temperature for up to three days. Reheat in the microwave for 10-15 seconds or just eat at room temperature.Make sure the muffins have cooled sufficiently before adding the icing on top. If the muffins are too warm, the icing will just slide right off.Be gentle when taking the muffins out of the muffin tins to cool. They sometimes want to fall apart if you’re not gentle.Make these an even cuter dessert by serving in colorful cupcake liners – also a great way to keep them together if they do seem like they might fall apart!