Heat oven to 350°F; split connected rolls as one slab.

Beat cream cheese, granulated sugar, vanilla, and half the cinnamon until smooth.

Spread filling over bottom slab; replace top.

Mix butter and remaining cinnamon; brush over rolls. Bake 16 to 18 minutes until filling reaches 160°F.

Cool 20 minutes. Whisk powdered sugar and milk; lightly drizzle over top.

Chill 30 minutes; cut into 12 dessert sliders.