In a large mixing bowl, combine flour, baking powder, and salt. Stir together. Add butter. Cut until very fine. Pour in milk, mix until the dough begins to pull together. Roll dough out onto a lightly floured surface.
Once your dough is rolled out onto a lightly floured surface, cut out your biscuits. Please note for best results, you will want your dough to be about ½ inch thick. Place onto a greased cookie sheet. Squish the centers so that they look almost like droughts.
In a microwave-safe bowl, combine butter, cinnamon, and brown sugar. Microwave for 30 seconds. Remove and stir. Scoop about a tablespoon of the mixture into the center of each biscuit.
Bake at 425° for 12 minutes, or until your biscuits begin to turn a golden brown. Remove and allow to cool while you mix the icing together.
Mix powdered sugar, milk, cinnamon, and vanilla together in a small bowl. Drizzle on top of your fresh biscuits. Serve and enjoy!