Preheat the oven to 375 F/190 C. Place the rack in the middle position.
In a large bowl whisk together the flour, sugar, salt, and baking powder.
Cut the cold butter into cubes and then add it into the flour mixture. Use a pastry blender or fork to cut in the butter with the mixture until there are no large chunks left. This will created a flaky texture to the rolls.
Add all the milk and blend everything together with a wooden spoon until the dough forms.
Pour the dough onto a floured surface and knead it for 2 to 3 minutes. Until the dough is all together nicely. Use any extra flour as needed to keep it from sticking. Shape the dough into a disc and set aside.
Now in a small bowl melt the butter and add the brown sugar, cinnmaon, and the white granulated sugar as well as the vanilla extract. Mix them all together to form a past.
Roll out the dough on a floured surface in a 12-inch long by 10 inch wide rectangle. It doesn't have to be exact. Then evenly spread on the paste. Or baste the butter on top of the rolled out dough and then sprinkle on the sugar mixture.
Roll the dough lengthwise tightly until it forms a large snake. Place the seam side down. Use floss and place it underneath the dough and cross it and pull. This will cut the dough and create the rolls. Or you can use a knife. Sometimes a knife cut will smash the dough.
Place the cinnamon rolls into a butter greased 10-inch round pan or 13x9 inch butter greased rectangle pan. Bake the rolls for 25 to 30 minutes until they are nice and golden brown on the top. Allow them to cool for 5 minutes.
Make the glaze by adding the powdered sugar, milk, and melted butter to a bowl and whisking those ingredients together. Then drizzle the glaze onto the rolls. Now enjoy!