Creating these Irresistible Cinnamon Roll Cookies is a fun and rewarding experience. Follow these simple steps:

1. Preheat the Oven: Preheat your oven to 350°F (175°C) and line two baking sheets with parchment paper.
2. Mix Dry Ingredients: In a large bowl, whisk together the flour, baking soda, baking powder, salt, and ground cinnamon until combined.
3. Cream Butter and Sugar: In another large bowl, beat the softened butter and granulated sugar together until light and fluffy.
4. Add Egg and Vanilla: Mix in the egg and vanilla extract until well combined.
5. Combine Mixtures: Gradually add the dry ingredients to the butter mixture, stirring until a dough forms.
6. Prepare Filling: In a small bowl, mix together the brown sugar and ground cinnamon for the filling.
7. Roll Out the Dough: On a lightly floured surface, roll out the dough into a rectangle about ¼ inch thick.
8. Spread Filling: Sprinkle the cinnamon-sugar mixture evenly over the dough.
9. Roll the Dough: Starting from one side, carefully roll the dough into a log. Slice the log into 1-inch thick cookies.
10. Bake the Cookies: Place the cookies on the prepared baking sheets and bake for 10-12 minutes, or until the edges are lightly golden.
11. Cool: Remove from the oven and let the cookies cool on the baking sheets for 5 minutes before transferring them to wire racks to cool completely.
12. Prepare Glaze: In a small bowl, whisk together powdered sugar and milk until smooth.
13. Drizzle Glaze: Once the cookies are cooled, drizzle the glaze over the top for added sweetness.

Following these steps will lead you to a delightful batch of Irresistible Cinnamon Roll Cookies that your family and friends will love!