Cinnamon Roll Cookies

Heat oven to 350 degrees F and line two baking sheets with parchment paper. Divide sugar cookie dough in half and roll each halve into large 1/4-inch-thick rectangles. In small bowl, combine brown sugar and ground cinnamon. Sprinkle rectangles with sugar mixture and tightly roll up each into tight log. Slice into 1/4-inch-thick slices and transfer to prepared baking sheets. Bake until lightly golden, 12 to 14 minutes. Let cool on sheets 5 minutes before transferring to wire racks to cool completely. In small bowl, combine confectioners' sugar with whole milk and drizzle over cooled cookies.