Biscuit Cinnamon Rolls

Pre-heat the oven to 425° F, and grease a 9-inch round cake pan with cooking spray.
Whisk together the flour, baking powder, and salt.
Using a pastry blender, cut the unsalted butter into the flour mixture, 'til it makes fine crumbles.
Make a well in the center of the mixture, and add the milk. Mix together well.
Sprinkle a handful of all-purpose flour on a clean surface. Knead the biscuit dough into the flour, shaping it with your hands. Using a rolling pin, roll the dough out to about a 1-inch thickness.
In a small bowl, mix together the sugar and cinnamon.
Brush the melted butter all over the rolled out dough.
Sprinkle the cinnamon sugar mixture all over the dough, giving the dough an even covering.
If you want raisins, sprinkle them all over the dough, as well.
Somewhat tightly, roll the dough into a long, thick roll.
Then slice it into approximately 1-inch wide pieces.
Place the cinnamon rolls, face up, into the prepared pan.
Bake the cinnamon rolls at 425° F for about 20 minutes, or 'til the tops begin to turn a warm golden hue.
To make the icing, mix together the softened butter and vanilla extract in a large mixing bowl.
Add the milk to the mixture.
Then slowly mix in the powdered sugar. You want the icing to be thin enough to brush onto the cinnamon rolls.
Once the cinnamon rolls are baked, remove them from the oven, and let them cool for about 5 minutes. Keep the rolls in the pan.
Brush the icing onto the tops of the cinnamon rolls, and serve them immediately.