1. Preheat oven to 375°F (190°C) and grease a baking dish.
2. In a mixing bowl, combine Bisquick baking mix and milk to form a soft dough.
3. Lightly flour a surface and roll the dough into a rectangle about ¼ inch thick.
4. Spread melted butter evenly over the dough.
5. Mix sugar and cinnamon, then sprinkle over the buttered dough.
6. Roll the dough tightly from the longer side to form a log.
7. Slice the log into 6-9 equal pieces.
8. Place the rolls cut-side up in the prepared baking dish.
9. (Optional) Pour warm heavy cream over the rolls for extra softness.
10. Bake for 20-25 minutes or until golden brown.
11. While baking, prepare a simple glaze by mixing powdered sugar with a little milk.
12. Let the rolls cool slightly, then drizzle with the glaze.
13. Serve warm and enjoy!
14. Store leftovers at room temperature for up to 2 days or refrigerate for longer freshness.
15. Reheat in the microwave before serving if needed.