Add cream cheese, heavy cream, maple syrup or honey, and vanilla extract to a medium saucepan over medium heat.
Stir constantly just until well combined, then remove from heat.
Use an immersion blender to make the icing extra smooth, then pour over warm cinnamon rolls to enjoy.
Notes
It is much easier to mix if your ingredients are at room temperature. I still prefer heating my ingredients slightly before mixing for the smoothest consistency. However, you could mix everything at room temperature.
If you don't have an immersion blender, use an electric hand mixer or the bowl of a stand mixer, or pour into a blender and pulse.
Add 1/2 teaspoon of cinnamon or pumpkin spice for a seasonal spin, or try lemon or orange zest for a bright twist.
Use vanilla bean paste in place of vanilla extract if you have it!
Add a pinch of salt to cut the sweetness a bit, if desired.
Leftover cinnamon roll icing may be refrigerated in an airtight container for up to a week. Freezing is not recommended.