Preheat the oven to 400°F (204°C).

Unfold the puff pastry and sprinkle it with brown sugar and cinnamon. Spread to the edges with a brush or your hands.

Roll from the bottom up until you have a nice tight tube. Lightly dampen along the edge with water to create a seal. Cut in half.

Place on a parchment-lined baking sheet.

Bake for 15 minutes or until golden brown and soft. Set aside for 3 to 5 minutes to rest. While resting, make the glaze.

Whisk the heavy cream and powdered sugar in a saucepan. Continue to whisk until fully combined and warmed throughout. Then whisk in the vanilla. Serve ½ cup per portion.

Serve cinnamon rolls with the warm glaze on the side for dipping. Enjoy with milk.