Preheat oven to 350 degrees.
In a small bowl, combine butter, brown sugar and cinnamon.
Take the rolls out of a can and unroll into a rectangle, sealing perforations.
Spread with cinnamon mixture.
Unroll remaining can of rolls and place on top of the ones with the spread on them.
Cut into 8 strips. Twist eash strip about 8 times then coil into a roll.
Bake for 12-15 minutes or until golden brown.
For Icing, combine powdered sugar, milk and vanilla. Stir until desired consistency. Drizzle over warm baked rolls.