In a mixing bowl, combine the powdered sugar and softened cream cheese.
Add milk gradually, stirring to create a smooth mixture.
Incorporate vanilla extract and salt into the mixture.
Ensure there are no lumps, whisking until the icing is creamy.
Adjust consistency by adding more milk if too thick.
Once smooth, set aside for a few minutes to thicken slightly.
Drizzle the icing over warm cinnamon rolls for best results.
Use a spatula to spread the icing evenly, if desired.
Let the icing set for a few minutes before serving.
Enjoy your delicious cinnamon rolls with the freshly made icing!