In a bowl, combine the warm water, yeast and brown sugar. Set aside, letting it get nice and bubbly.
Once the mixture is bubbly and foamy, add in the flour and salt. Stir until a shaggy dough forms and then knead by hand for 5 minutes. If the dough is extremely sticky, you can add up to 1 tbsp extra flour. You’ll want to keep the dough quite soft, though.
Cover the dough and allow it to rest for 5 minutes.
After the dough has rested, pull and roll the dough into a long 2 inch by 12 inch rectangle.
Spread the softened butter onto the rolled out dough.
Sprinkle and spread the brown sugar onto the buttered dough and then sprinkle the cinnamon onto the brown sugar, pressing the cinnamon and sugar layer into the buttered dough.
Roll up the strip of dough into a coil to make the cinnamon roll.
Place in an oven safe dish or ramekin coated with non-stick spray.
Drizzle the heavy cream over the cinnamon roll and then cover with plastic wrap.
Set it in a warm place for 15 minutes, letting the heavy cream soak in and the cinnamon roll rise.
While the cinnamon roll is rising for 15 minutes, preheat the oven to 350°F.
Once preheated, bake the cinnamon roll for 15-17 minutes or until it is beginning to turn golden brown.
While the cinnamon roll is baking, make the icing by combining all ingredients until smooth. Adjust the thickness by adding more milk, if needed.
Once the cinnamon roll comes out of the oven, ice generously and enjoy.