Preheat oven to 375°F. Line 9x13 inch pan with parchment paper.
In a large bowl, mix Bisquick and milk until soft dough forms.
Turn dough onto lightly floured surface and knead 10 times.
Roll dough into a 12x8 inch rectangle.
Brush with 2 tablespoons melted butter.
Mix brown sugar and cinnamon in a small bowl.
Sprinkle sugar-cinnamon mixture evenly over buttered dough.
Starting at long side, roll dough tightly into a log.
Cut into 12 equal slices.
Place rolls in prepared pan, leaving space between each.
Bake 15-18 minutes or until golden brown.
While rolls bake, make glaze by whisking powdered sugar, milk, and vanilla until smooth.
Pour glaze over warm rolls before serving.