In a large mixing bowl, combine 2 cups of Bisquick baking mix with 2 tablespoons of sugar. Pour in 2/3 cup of milk and stir with a spatula until a soft dough forms, which should take about 1-2 minutes.

Lightly flour your workspace and gently turn the soft dough onto it. Knead the dough gently for about 30 seconds. Roll the dough out into a rectangle approximately 1/4-inch thick.

Melt 2 tablespoons of butter and brush it generously over the rolled-out dough. In a small mixing bowl, combine 1/2 cup of brown sugar with 1 tablespoon of cinnamon. Evenly sprinkle this mixture over the melted butter.

Starting from one edge, carefully roll the dough tightly into a log shape. Cut the log into 8 equal pieces and place them cut side up in a greased 9x13-inch baking dish.

Preheat your oven to 375°F (190°C). Bake the cinnamon rolls for 18-20 minutes until golden brown.

In a medium bowl, whisk together 1 cup of powdered sugar, 1/2 teaspoon of vanilla extract, and 1-2 tablespoons of milk until smooth.

Once the rolls are baked, let them cool for about 5 minutes. Drizzle the glaze over the warm rolls and serve immediately.