In a small mixing bowl, mix sugar, cinnamon and salt; set aside. On a floured work surface, using floured hands, shape and roll dough into a 12x7" rectangle. Spread butter evenly over dough; sprinkle evenly with cinnamon-sugar mixture. Roll dough up to form a 12" log; slice into 12 evenly thick pieces. Spray a 12-cup muffin tin lightly with baking spray; place rolls in cups, spiral (cut) side up. Bake in a preheated 350° oven until puffed and dark golden-brown on top (about 15 min.). Remove from oven and cool in pan for 5 min.; move to a wire rack and let cool about 30 min. In a small mixing bowl, whisk confectioners' sugar with milk a few drops at a time until a thick but drizzle-able icing forms; drizzle over rolls. Serve immediately or store, covered, at room temperature for up to 2 days.