Preheat your oven to 350 degrees Fahrenheit.

Place the butter in a pan and melt it in the oven as it preheats.
Cut the biscuits into quarters. Combine the sugar and cinnamon in a large resealable bag.
Add the biscuit pieces to the bag, seal it, and shake well until all pieces are evenly coated with the cinnamon-sugar mixture.
Arrange the coated biscuits on the pan with the melted butter.
Bake in the oven for 15 minutes or until golden brown.
While the biscuits are baking, prepare the icing by whisking together the powdered sugar, milk, and vanilla in a small bowl until smooth.
Once the biscuits are done, remove them from the oven and immediately drizzle with the prepared icing.