Follow these simple steps to create your delicious Cinnamon Roll Sugar Cookies:

1. Preheat Oven: Preheat your oven to 350°F (175°C). Line baking sheets with parchment paper for easy cleanup.

2. Mix Dry Ingredients: In a bowl, whisk together the flour, baking soda, baking powder, and salt.

3. Cream Butter and Sugar: In a large mixing bowl, beat the softened butter and granulated sugar until light and fluffy.

4. Add Egg and Vanilla: Add the large egg and vanilla extract to the butter mixture. Beat until well combined.

5. Combine Dry and Wet Ingredients: Gradually mix in the dry ingredients, stirring until just combined. Avoid over-mixing to keep the texture light.

6. Prepare Cinnamon Filling: In a small bowl, combine the ground cinnamon and brown sugar.

7. Form Cookies: Scoop about a tablespoon of dough, flatten it in your palm, and sprinkle some cinnamon filling in the center. Fold the edges over to seal the filling inside and roll into a ball.

8. Place on Baking Sheet: Arrange the dough balls on the baking sheets, spacing them about 2 inches apart.

9. Bake: Bake the cookies in the preheated oven for 10-12 minutes or until the edges are lightly golden. Keep an eye on them to avoid over-baking.

10. Cool: Once baked, allow the cookies to cool on the baking sheet for a few minutes before transferring them to a wire rack to cool completely.

11. Prepare Icing: In a small bowl, mix the powdered sugar with sufficient milk to create a smooth, drizzle-able icing.

12. Glaze the Cookies: Drizzle the icing over the cooled cookies for a sweet finish.

These straightforward steps will guide you to making these amazing cookies that everyone will love.