Combine cream cheese with butter and vanilla and blend well in a mixer.
Add in powdered sugar a little at a time until desired consistency is reached. You can use up to 2 T. of milk as needed to wet sugar.
When freezing the cinnamon rolls I like to freeze the icing as well so that when I decide to bake the rolls all I have to do is thaw an icing bag and I was good to go. To thaw, stick in fridge over night or let sit in a bowl of lukewarm water.