Preheat oven to 350°F. Lightly grease a 9x13-inch baking dish.
Cut each biscuit from the tube into 4 equal pieces.
Stir together the light brown sugar and ground cinnamon in a small bowl.
Dip the biscuit pieces into the melted butter, then roll them in the brown sugar and cinnamon mixture until fully coated. Place the coated pieces into the prepared baking dish.
Pour any remaining melted butter evenly over the biscuit pieces in the dish, and sprinkle with any leftover cinnamon sugar mixture.
Bake in the preheated oven for 18 to 22 minutes, or until the bites are golden brown and no longer doughy in the center.
While the bites are baking, whisk together the powdered sugar, vanilla extract, and milk in a small bowl until a smooth glaze forms.
Remove the cinnamon roll bites from the oven and immediately drizzle the sweet glaze over the top. Serve warm.
Notes
Store any leftover cinnamon roll bites in an airtight container at room temperature for up to 2 days.