Eric uses this when Nicole made some cinnamon rolls for us when we visited on our way back home from our mission at Adam-ondi-Ahman in 2015. This is the best icing or glaze!

½ Cup firmly packed light brown sugar
¼ Cup butter
3 Tablespoons milk
1 teaspoon vanilla
1 Cup powdered sugar

Bring brown sugar, butter, and milk to a boil in a saucepan over medium heat, whisking constantly. Boil 1 minute, whisking constantly. Removed from heat, stir in vanilla. Gradually whisk in powdered sugar until smooth. Stir gently 3 – 5 minutes or until mixture begins to cool and thicken slightly. Pour immediately over cooled cake or cinnamon rolls.