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1. Preheat oven to 375 degrees F. Grease an 8x1-1/2- or 9x1-1/2-inch round baking pan; set aside. Unroll dough (do not separate); press perforations to seal. Brush dough with melted butter. In a small bowl, stir together the granulated sugar and cinnamon; sprinkle over dough. Starting from a long side, roll up dough. Using a sharp knife, slice dough into 1-1/2-inch pieces. Arrange pieces, cut side up, in prepared pan, flattening each roll slightly.
2. Bake for 15 to 18 minutes or until golden. Remove and cool rolls slightly in pan on a wire rack. Remove from pan. In a small bowl, stir together powdered sugar, vanilla, and enough orange juice or milk to make an icing of drizzling consistency. Drizzle over warm rolls. Serve warm.