Preheat the oven to 350 degrees and line 2 baking sheets with parchment paper.
To make the snickerdoodles, add the softened butter, brown sugar, and sugar to a stand mixer and beat until creamy and light.
Add in the eggs one at a time until incorporated.
Add in the vanilla.
Add in the dry ingredients and mix until just combined.
To make the cinnamon roll filling, beat together all the filling ingredients until combined.
Scoop out a 3 tbsp sized ball of dough, make a well in the center, and add in 1 tsp of cinnamon roll filling. Make sure to cover the filling completely and roll the dough in your hands to seal the edges.
In a small bowl, combine the rolling ingredients by whisking.
Cover the dough ball in the rolling mixture and place on a parchment lined baking sheet.
Bake for 9-11 minutes until edges are firm.
Make the icing while the cookies cool on a baking rack. Cream together the ingredients for the cinnamon roll filling in a small bowl.
After the cookies are cool, drizzle the icing on top and serve!