1Heat oven to 350°F. In medium bowl, mix Cookie ingredients with fork until soft dough forms. On lightly floured surface, roll out dough with rolling pin until about 1/4-inch thickness.
2In small bowl, stir together Cinnamon-Sugar ingredients. Sprinkle cinnamon-sugar evenly over cookie dough. Roll up dough into tight spiral; cut into 1-inch slices. Place on ungreased cookie sheets.
3Bake 8 to 10 minutes or until set. Remove from cookie sheets to cooling racks. Cool while making icing.
4In another small bowl, stir together Icing ingredients until smooth, adding enough milk for piping consistency. Spoon icing into resealable food-storage plastic bag. Seal bag; cut off tiny bottom corner of bag. Pipe icing over top of each cookie. Let icing set until firm before serving or storing.