Combine warm milk, yeast, and a pinch of sugar in a bowl. Let sit for 5 minutes until frothy.
In a large bowl, mix flour, sugar, and salt. Add the yeast mixture, melted butter, water, and egg. Mix until a soft dough forms.
Knead the dough for 5-7 minutes until smooth and elastic. Cover and let it rise for 1 hour or until doubled in size.
In a bowl, mix softened Biscoff cookie butter, softened butter, brown sugar, and cinnamon until smooth.
Roll out the dough into a 12x18-inch rectangle. Spread the filling evenly over the dough.
Roll up the dough tightly from the long side and cut into 12 slices. Place the rolls in a greased 9x13-inch baking dish.
Let the rolls rise for 30 minutes. Preheat the oven to 350°F (175°C).
Bake the rolls for 20-25 minutes, until golden brown.
Beat softened cream cheese, Biscoff cookie butter, powdered sugar, and vanilla extract together. Gradually add milk until smooth and spreadable.
Drizzle the icing generously over the warm cinnamon rolls.