In a large mixing bowl, combine the rolled oats, peanut butter, honey (or maple syrup), powdered sugar, cinnamon, vanilla extract, and a pinch of salt. Stir until all ingredients are fully incorporated and the mixture has a dough-like consistency.

Use your hands or a spoon to roll the dough into 1-inch balls. Place them onto a parchment-lined baking sheet or tray. Gently flatten each ball into a round, cookie-like shape with the back of a spoon or your fingers.

Transfer the tray with the cookies into the refrigerator and chill for at least 30 minutes to firm up.

While the cookies chill, whisk together the powdered sugar, milk, and vanilla extract in a small bowl until smooth. If the glaze is too thick, add a little more milk to reach a drizzle consistency.

Once the cookies are chilled and firm, drizzle the glaze over the top of each cookie using a spoon or a piping bag for a more controlled drizzle.

Let the glaze set for a few minutes before serving. Enjoy these no-bake cinnamon roll cookies with a cup of coffee, milk, or as a quick snack!