Gather all your ingredients on the counter.

In a mixing bowl, sift the powdered sugar to remove lumps.

Pour in the milk and vanilla extract.

Add the softened butter and a pinch of salt.

Whisk the ingredients until the mixture is smooth and creamy for about one minute.

If the icing is too thick, add more milk, one teaspoon at a time.

Taste the icing and adjust sweetness by adding more powdered sugar if desired.

Drizzle the icing generously over warm cinnamon rolls.