Whisk together the sugars & cinnamon. Set aside.
Roll out puff pastry. Cover with softened butter.
Sprinkle the cinnamon sugar mixture over top.
Roll the dough into a log & slice the roll in half.
Slice each half 3 times to make 6 rolls. Bake until golden brown.
Whisk together powdered sugar, vanilla & milk in a small bowl.
Drizzle the icing on top of cooled cinnamon rolls.