Place cinnamon rolls in a single layer in the bottom of a lightly greased 9 x 13" baking pan. Pour heavy cream around the rolls to make an even layer in the pan.
Stir brown sugar, cinnamon and melted butter together and spread over top of cinnamon rolls.
Cover with foil and bake at 350F for 20 to 25 minutes.
In a small mixing bowl squeeze store bought icing add butter, powdered sugar, vanilla and 1 tablespoon of milk.
Mix together and add 1 tablespoon of milk at a time until it reaches your preferred consistency.