These cinnamon rolls can be made ahead of time, just place the rolls into the fridge overnight to rise and bring them up to room temp the next morning before baking in the oven.
Add only enough milk until you have the consistency of glaze you would like.
Make sure the buns have cooled slightly and are not too hot before adding the glaze over the top.
These buns are delicious as leftovers, just make sure to reheat them!