Preheat your oven to 375°F (190°C).

In a large mixing bowl, combine your Bisquick mix, granulated sugar, baking powder, and ground cinnamon.

Gradually stir in the milk and melted butter until the mixture forms a soft, slightly sticky dough.

Flour a clean surface and turn out your dough. Flatten the dough into a rectangle about 1/4 inch thick.

In a small bowl, mix brown sugar and cinnamon. Spread this mixture evenly over the rolled-out dough, leaving a small border around the edges.

Starting from one of the long edges, roll the dough tightly into a log and pinch the seams to seal it.

Use a sharp knife to cut the log into about 12 equal-sized pieces.

Place the rolls in a greased baking pan, leaving space between them.

Bake for 15-20 minutes or until golden brown.

If desired, mix powdered sugar with milk to create a smooth icing and drizzle over warm cinnamon rolls before serving.

Enjoy the rolls while they’re warm for the best taste.