Preheat oven to 375°F. Line a baking sheet with parchment paper.

Unroll the puff pastry sheets onto a lightly floured surface. Using a brush, spread the melted butter evenly over each sheet.

In a small bowl, combine the brown sugar and cinnamon. Sprinkle the cinnamon sugar mixture evenly over the buttered puff pastry.

Tightly roll up each puff pastry sheet starting from one long side. Slice into 1-inch thick rounds and place on the prepared baking sheet, spacing evenly apart.

Bake for 15-20 minutes, or until golden brown and puffed. Allow to cool on the baking sheet for 5 minutes before transferring to a wire rack to cool completely.

Make the glaze by whisking together the powdered sugar, milk, vanilla extract and cinnamon until smooth. Drizzle glaze evenly over cooled cinnamon rolls before serving.

Serve the puff pastry cinnamon rolls and enjoy!