How To Make Thaw the biscuits overnight in the refrigerator or at room temperature for 30 minutes. Preheat the oven to 375 degrees. Prepare a muffin tin by spraying 6 compartments with non-stick baking spray and set aside. Begin placing the thawed biscuit dough on a piece of parchment paper overlapping them slightly. Using a rolling pin roll them out flat into 12” x 8” rectangle. Brush the melted butter over the surface of the dough. Then sprinkle on the brown sugar, cinnamon and pecans. Beginning at the long edge closest to you, start rolling up the dough into a tight cylinder. Pinch the dough tightly making sure it’s sealed. Using a serrated knife make a slice every 2 inches. You should get 6 cinnamon rolls. Place the cinnamon rolls in the prepared muffin pan and bake for 12 minutes or until the rolls are golden brown. For the glaze, mix the powdered sugar, vanilla, and milk together until smooth. Slowly pour over the slightly warm cinnamon rolls.