Soft and Chewy Cinnamon Roll Sugar Cookies

Ingredients

• 2 3/4 cups all-purpose flour
• 1 teaspoon baking soda
• 1/2 teaspoon baking powder
• 1/2 teaspoon salt
• 1 cup unsalted butter, softened
• 1 1/2 cups granulated sugar
• 1 large egg
• 2 teaspoons vanilla extract
• 1/4 cup brown sugar
• 1 tablespoon ground cinnamon
• 2 tablespoons unsalted butter, melted (for filling)
• Icing: 1 cup powdered sugar, 2 tablespoons milk, 1/4 teaspoon vanilla extract