Place a saucepan on your stove at a medium heat. Put milk and flour into the saucepan and stir until the mixture becomes a paste-like consistency.
Add vanilla extract and stir into the mixture.
Remove the saucepan from the heat and allow it to fully cool before moving onto the next step.
In a bowl, whisk together the sugar and butter until light and fluffy.
Once the flour-milk-vanilla mixture has reached room temperature, add the sugar-butter mixture into the saucepan. It is best to use an electric whisk to fully combine both of these mixtures together.
Spread your icing onto cinnamon rolls and dig in!
Nutrition
Calories: 191kcal
Keyword Cinnamon Roll, Cinnamon Roll Icing, Cinnamon Roll Icing Without Powdered Sugar