Make the ultimate simple dough through the first rise (through step 4).
Prepare pan: Grease two 9-inch pie pans or one 9x13-inch cake pan.
Prepare filling: Add brown sugar, cinnamon, salt and melted butter in a bowl. Mix to fully combine.
Roll the dough out into a 9x15-inch rectangle. Spread the filling mixture all over, leaving a 1/2-inch border at the far edge. Roll the dough up tightly then press the seam to seal. Use a sharp serrated knife to cut the ends off, and then slice 11 to 12 equal pieces. Place in prepared pan(s).
Loosely cover and allow to rise for 30 minutes to 1 hour, or until double in size.
Preheat oven to 350°F.
Bake for 25 minutes, or until golden brown.
Prepare icing: Add heavy cream with powdered sugar in a bowl. Stir to combine; add more heavy cream or powdered sugar to achieve desired consistency. Drizzle over the warm rolls. Serve!