Lightly grease an 11x7x1-1/2-inch baking pan; set aside. In a small bowl, combine brown sugar, nuts and cinnamon.
On a lightly floured surface, pat each thawed roll into a 3-1/2-inch circle. Brush each circle with a little of the melted butter. Place about 1 tablespoon of the nut mixture onto the center of each dough circle. Bring up edges of each roll and pinch to seal and enclose filling. Place filled rolls, seam sides down, in prepared pan. Cover and let rise in warm place until nearly double in size (about 30 minutes).
Brush tops of rolls with remaining melted butter. Bake in a 350 degree F oven for 15 to 20 minutes or until rolls are golden. Cool slightly; remove from pan. Generously frost warm rolls with Cream Cheese Icing. Serve rolls warm or cool on a wire rack. Makes 12 rolls.
In a medium mixing bowl, beat cream cheese, butter, and vanilla until light and fluffy. Beat in milk. Gradually powdered sugar until icing is of spreading consistency. Makes about 1 cup frosting.