Mix together brown sugar, bacon bits, and cinnamon.
Place rolls side by side in a baking dish or skillet. Brush the tops of the rolls with egg. Sprinkle cinnamon sugar mixture across the tops of the rolls.
Bake at 350°F for 8-10 minutes, until browned. Broil for 1/2 minutes if desired.
Combine powdered sugar, vanilla, and milk to make icing. Drizzle over cinnamon buns and serve warm!