Heat oven to 375º Fahrenheit. Spray an 8" round cake pan or pie plate with cooking spray.
In a medium bowl, combine Bisquick and buttermilk until a soft dough forms. 2 1/4 cups Bisquick mix, 2/3 cup buttermilk
Sprinkle flour on a pastry mat or on the counter. Using a rolling pin, roll the dough out to a 8×12" rectangular shape on the floured surface.
Spread the entire surface with softened butter, then sprinkle with brown sugar and cinnamon.1/4 cup salted butter, 1/3 cup light brown sugar, 2 teaspoons ground cinnamon
Starting at the long end, roll the dough up jelly roll style, then slice into 6 equal pieces with a sharp knife or cut with dental floss. Place the rolls cut side up into the greased baking dish. Pour warmed heavy cream over the rolls. 1/3 cup heavy cream
Bake in the preheated oven for 20-25 minutes or until the center roll is baked and not doughy. Pull up on the edge of a center roll to see if it looks done. Check the rolls at 20 minutes. If they are getting too brown, cover loosely with foil and continue to bake.
In a small bowl, whisk together the powdered sugar, butter, vanilla and cream. Drizzle in more cream if needed to get the consistency of the glaze you'd like. Spread the glaze over the warm rolls. 1 cup powdered sugar, 1 tablespoon melted butter, 1/2 teaspoon vanila extract, 1 tablespoon heavy cream
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Notes
*Add raisins to the filling if you'd like.The calories shown are based on the recipe making 6 frosted rolls, with 1 serving being 1 frosted roll. Since different brands of ingredients have different nutritional information, the calories shown are just an estimate. **We are not dietitians and recommend you seek a nutritionist for exact nutritional information.**