Preheat Oven: Preheat your oven to 375°F (190°C).
Mix Dough: In a large bowl, combine the flour, baking powder, baking soda, and salt. In another bowl, whisk together the sourdough discard, milk, melted butter, vanilla, and sugar. Pour the wet ingredients into the dry ingredients and mix until just combined. Make sure to scrape down the sides of the bowl. Do not overmix; the dough should be slightly sticky.
Knead Dough: Knead dough in a stand mixer with a dough hook until a ball forms. This may take about five to 7 minutes. Alternatively, you can knead it by hand on a floured surface.
Roll Out Dough: On a floured surface, roll out the dough into a rectangle (about 12x18 inches).
Add Filling: Spread the softened butter over the rolled-out dough, leaving a small border around the edges. Sprinkle the cinnamon-sugar mixture evenly over the buttered dough.
Roll Up: Starting from one long side, carefully roll the dough into a tight log. Pinch the seam to seal.
Cut Rolls: Slice the rolled dough into 1-inch pieces and place them in a greased baking dish, or in a cast iron skillet.
Bake: Bake for 25-35 minutes, or until the rolls are golden brown.
Make Icing: While the rolls are baking, mix the icing ingredients together until smooth.
Glaze: Once the rolls are out of the oven, drizzle the icing over the warm rolls.
Enjoy: Let them cool for a few minutes and enjoy your delicious cinnamon rolls!