Combine all of the filling ingredients in a small bowl. Roll out your puff pastry sheet onto a parchment paper lined counter.
Spread your filling inside and roll up the entire sheet. Slice into cinnamon rolls and place on a parchment paper lined baking sheet. Bake at 350°. for 15 to 18 minutes or until lightly golden brown.
While they are baking, combine your icing ingredients being careful to add the milk slowly until the consistency you would like is there.
Remove cinnamon rolls from the oven and drizzle the icing on top. Enjoy!
