Preheat oven to 400F. Spray your mini muffin tins with non-stick spray.
Unfold the puff pastry, spread the puff pastry 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 into slices about 3/4 inch thick. (Should get about 12 to 14 pieces to 1 sheet of puff pastry).
Place each slice flat 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 the rolls are resting, mix add the ingredients for the glaze into a saucepan on low heat. Stir occasionally, until fully combined and warm.
Serve cinnamon rolls with the warm glaze on the side for dipping. Serve with milk.