Cinnamon Roll Icing

In a microwave safe bowl, combine the milk and butter.

Heat just until butter is melted.

In a mixing bowl, place the powdered sugar and salt.

Add the milk mixture and vanilla.

Using a hand-held electric mixer and starting on low, combine until smooth.

Increase to medium-high, beat mixture for about 1 minute.

While cinnamon rolls are still warm, but not hot, ice the rolls.