In a medium bowl, sift the powdered sugar to remove any lumps.
Add the softened butter to the sugar and mix well until smooth.
In a separate small bowl, combine the milk and vanilla extract.
Gradually add the milk mixture to the sugar mixture, stirring continuously.
Mix until you achieve a smooth and creamy consistency.
If the icing is too thick, add more milk, one tablespoon at a time.
Once the desired consistency is reached, add a pinch of salt to enhance the flavor.
Transfer the icing to a piping bag or a squeeze bottle for easy application.
Drizzle the icing generously over warm cinnamon rolls.
Serve immediately or allow to set before serving.