In a medium bowl, combine the powdered sugar and softened cream cheese.
Use a hand mixer to blend until smooth and creamy.
Add the milk gradually, mixing well after each addition.
Incorporate the vanilla extract and a pinch of salt.
Mix until the icing is smooth and reaches a pourable consistency.
If the icing is too thick, add more milk, one teaspoon at a time.
Allow the icing to sit for a few minutes to thicken slightly.
Drizzle over warm cinnamon rolls for the best flavor.
Enjoy your homemade cinnamon rolls with the freshly made icing!