Creating Cinnamon Roll Cookies is simple, and you’ll be delighted with the results. Follow these steps for perfect cookies every time:

1. Preheat the Oven: Preheat your oven to 350°F (175°C) and line two baking sheets with parchment paper.
2. Mix Dry Ingredients: In a bowl, whisk together the flour, baking soda, baking powder, ground cinnamon, and salt.
3. Cream Butter and Sugar: In a separate bowl, beat the softened butter and granulated sugar until light and fluffy.
4. Add Egg and Vanilla: Add the egg and vanilla extract to the butter mixture, mixing until well combined.
5. Combine Mixtures: Gradually add the dry mixture to the wet ingredients, mixing until just combined.
6. Prepare Filling: In a small bowl, combine brown sugar and ground cinnamon for the filling.
7. Shape Cookies: Scoop the dough and flatten it slightly in your hand. Sprinkle some of the cinnamon filling in the center, fold the dough around it, and roll into a ball.
8. Place on Baking Sheet: Place the cookie dough balls onto the prepared baking sheets, spaced about 2 inches apart.
9. Bake: Bake in the preheated oven for 10-12 minutes or until the edges are lightly golden.
10. Cool the Cookies: Remove from the oven and let them cool on the baking sheets for 5 minutes before transferring to a wire rack.
11. Prepare Glaze: While the cookies cool, mix the powdered sugar and milk in a small bowl until smooth.
12. Drizzle Glaze: Once the cookies are completely cool, drizzle the glaze over the tops of the cookies.

By following these steps, you’ll create warm, inviting Cinnamon Roll Cookies that are sure to impress.