Combine the flour, sugar, baking powder, baking soda, and salt in a medium bowl.
In a small measuring cup, combine the milk, vinegar, vanilla, and ¼ cup of the melted butter.
Add the wet ingredients to the dry, and stir until a soft dough forms.
Heavily flour a work surface, and pat the dough out into a rectangle about 6-inches long. Use plenty of flour as you go.
Pour the remaining melted butter on top of the dough.
Combine the brown sugar and cinnamon in a small bowl. Press this mixture lightly into the butter on top of the dough.
Carefully, roll the dough up starting with the long side. Roll away from you. When you get to the end of the dough, pinch the entire seam shut. Cut the dough into eight equal pieces and drop them into the muffin cups.
Bake for 14-15 minutes, or until lightly golden brown.
Meanwhile, mix the powdered sugar, with enough milk or cream to create a pourable glaze. Stir in vanilla extract.
Glaze the cinnamon rolls when they come out of the oven, and serve warm.
I made a glaze instead of the cream cheese frosting called for in the original recipe. If you want to use cream cheese frosting, head here.The unglazed baked rolls freeze well. Defrost them on the counter for 1/2 hour (or overnight in the refrigerator), then warm, glaze, and serve.