Preheat the oven to 350 degrees F.

Unpackage the Hawaiian rolls; use a serrated knife to slice the sheet of Hawaiian rolls in half, removing the top sheet from the bottom.

Place the bottom half of the rolls onto a greased 9x13 rimmed baking sheet or baking dish.

In a medium mixing bowl, combine the softened butter with the brown sugar and cinnamon, stirring until smooth and combined well.

Spread half of the prepared brown sugar/butter mixture over the bottom sheet of rolls in the pan; top with the slices of cooked bacon, laying them side-by-side.

Cover the bacon with the top sheet of Hawaiian rolls; spread the remaining half of brown sugar/butter mixture over the top.

Bake the rolls, uncovered, on the center oven rack for 12-15 minutes, or until hot throughout; remove to a cooling rack.

Meanwhile, combine the icing ingredients together in a medium mixing bowl; whisk together until smooth.