2 cups Bisquick
2/3 cup milk
4 tablespoons melted butter
1 cup packed brown sugar
2 teaspoons ground cinnamon
1/2 cup + 2 tablespoons powdered sugar
2 tablespoons milk
2 tablespoons melted butter
A pinch of salt
1/2 teaspoon maple extract
1 tablespoon strongly brewed coffee
Roll dough into a large rectangle, 1/4-inch thick, and brush with melted butter. Sprinkle about 3/4 cup of the brown sugar mixture over the dough; sprinkle the remaining brown sugar mixture in the bottom of each muffin cup well.
Roll dough, jelly roll fashion, tucking in the ends so that the brown sugar stays inside; slice into 12 biscuits. Place cut-side down in muffin cups on top of the brown sugar. Bake for 10-12 minutes, or until a toothpick inserted into the middle comes out clean. Turn out of the pan onto waxed paper immediately.
For the icing, mix together all the ingredients with a whisk until icing comes together. It should be thick, but too thick to pour. Depending on the consistency you want, you may want to add a tablespoon more or less of powdered sugar. Drizzle over the cinnamon rolls and serve warm.