Follow these easy steps to create your Cinnamon Roll Cookies with Glaze:

1. Preheat Oven: Start by preheating your oven to 350°F (175°C). Line two baking sheets with parchment paper.
2. Combine Dry Ingredients: In a medium bowl, whisk together flour, cinnamon, baking powder, baking soda, and salt.
3. Cream Butter and Sugar: In a separate large bowl, beat the softened butter and granulated sugar until fluffy.
4. Add Eggs and Vanilla: Mix in the eggs one at a time, followed by the vanilla extract, until well incorporated.
5. Combine Mixtures: Gradually add the dry ingredients to the wet mixture, mixing until combined. Avoid overmixing.
6. Prepare Filling: In a small bowl, mix together brown sugar and chopped nuts, if using.
7. Form Cookies: Scoop ladle-sized amounts of dough and roll them into balls. Place them on the prepared baking sheets, spacing them out well.
8. Add Filling: Gently press a thumbprint into each ball and fill with brown sugar mixture.
9. Bake: Bake the cookies for 12-15 minutes, or until the edges are lightly golden. Remove from oven and let them cool on the baking sheets for a few minutes before transferring to a wire rack.
10. Prepare Glaze: In a small bowl, whisk together powdered sugar, milk, and vanilla extract until smooth.
11. Glaze Cookies: Once cookies are cool, drizzle the glaze over the tops for a delightful finish.

By following these simple steps, you can create cookies that taste as amazing as they look!