Ingredients to make cinnamon rolls are 2 sheets puff pastry, 1 large egg lightly beaten, 2 teaspoons ground cinnamon, and 6 teaspoons brown sugar.  

Ingredients to make vanilla glaze are 1/4 cup powdered sugar, 1.5 teaspoons milk, and 1/2 teaspoon vanilla extract.

Directions

1. Thaw 2 sheets puff pastry according to package directions.  Line a baking sheet with parchment paper and preheat the oven to 400°F.
2. Unfold 1 sheet puff pastry and lay it on the surface. Using a pastry brush, coat the dough with a thin layer of the beaten egg all over. Evenly sprinkle a mixture of 1 teaspoon cinnamon and 3 tablespoons packed brown sugar on top.
3. Roll up the puff pastry as tightly as possible.  When fully rolled, tightly close the seam by pinching and pressing with your fingers.  Cut the roll crosswise into same-size pieces.  Lay each cut-side up on half of your lined baking sheet, making sure to space them evenly apart.
4. Take the second sheet of pastry and repeat the same filling, rolling, and slicing.  Brush each individual cinnamon roll with the remaining egg wash evenly.
5. Bake cinnamon rolls at 400°F until the rolls are golden brown and puffed up.  Be careful not to burn the brown sugar mixture. Transfer to a wire rack and allow them to cool completely before glazing.
6. Mix powdered sugar, milk, and vanilla extract together thoroughly until smooth.  Drizzle over the cooled cinnamon rolls evenly.

Note: You can skip glazing the cinnamon rolls with vanilla glaze.