In a small bowl, combine sugar and cinnamon. Set aside for now. In a large bowl, whisk together Bisquick and 2 Tbsp of cinnamon sugar mix. Stir in milk and vanilla extract too. Mix until a dough forms.
Roll out dough on a lightly floured surface (I used additional Bisquick to flour my board). Spread softened butter on the dough, the sprinkle remaining cinnamon sugar mixture over the dough. If you wanted to add raisins and/or nuts do so now.
Roll the dough out into a log and slice into 10-12 pieces. Place the rolls in a lightly sprayed with non stick spray baking pan. (My pan was an 8x8).
Bake at 375 degrees for approximately 18-20 minutes, just until middle is no longer sticky and tops are very lightly browned. While the cinnamon rolls are baking, prepare the glaze by stirring powdered sugar and milk together until smooth and creamy.
Remove the cinnamon rolls from the oven and let cool slightly before removing, serving with glaze poured over the top of each one.