I am not crazy about the icing for this. I would try a good cream cheese icing, like this one.

In a bowl, mix together butter, brown sugar, and cinnamon.
Lay dough out flat, if needed press/pinch together triangle perforations. 
Spread cinnamon sugar mixture evenly over dough. 
Roll dough starting at short end.
Cut each dough roll into 6 evenly sized cinnamon rolls and place in a baking dish or large pie plate.
Bake on center rack at 325F for 25 - 30 minutes, until cooked through. 
If you find the top is cooking more quickly than the bottom, put the dish on the lower rack for the last several minutes.
While cinnamon buns are baking, whisk together powdered sugar and milk to create a glaze.
Pour glaze over warm cinnamon buns and enjoy!