Preheat your oven to 375°F (190°C).

Combine in a bowl the Bisquick mix, sugar, milk, melted butter, cinnamon, and brown sugar. Mix until the dough forms.

Roll out the dough on a floured surface into a neat rectangle, about 1/4 inch thick.

Spread the dough evenly with melted butter, then sprinkle icing sugar liberally over the surface.

Roll the dough tightly from one side into a log, then cut it into 12 equal rolls.

Place the rolls in a greased baking dish.

Bake for 20 minutes or until golden brown.

Drizzle with milk to achieve your desired icing consistency.