Prepare the Dough: In a medium bowl, whisk together the flour, baking powder, and salt. In a separate large bowl, cream the butter, granulated sugar, and brown sugar until light and fluffy. Beat in the eggs and vanilla extract. Gradually add the dry ingredients to the wet ingredients until combined. Chill the dough for 1 hour. 

Roll and Fill: Roll the chilled dough into a 12×9-inch rectangle on a lightly floured surface. Brush the melted butter evenly over the dough. Mix the brown sugar and cinnamon, then sprinkle the mixture over the buttered dough. 

Roll and Chill: Tightly roll the dough into a log starting from the longer edge. Wrap the log in plastic wrap and refrigerate for 1 hour or until firm.

Slice and Bake: Preheat the oven to 350°F (175°C). Line baking sheets with parchment paper. Slice the dough log into 1/4-inch thick rounds and place them on the baking sheets, spaced about 2 inches apart. Bake for 10-12 minutes or until the edges are lightly golden. Let the cookies cool completely on a wire rack. 

Glaze: In a small bowl, whisk together the powdered sugar, milk, and vanilla extract until smooth. Drizzle the glaze over the cooled cookies. Let the glaze set before serving. 

Notes 

These cookies pair wonderfully with coffee or tea for a cozy treat. 

For an extra festive touch, add a pinch of nutmeg or a drizzle of caramel sauce on top! 

Store in an airtight container at room temperature for up to 5 days.

Enjoy your homemade cinnamon roll cookies!