Preheat oven to 350°F and line a couple cookie sheets with parchment paper.
In the bowl of a stand mixer fitted with the paddle attachment, cream together the softened butter, granulated sugar, brown sugar and honey until light and fluffy, scraping the sides of the bowl as needed. This will take about 2-3 minutes.
Add the eggs one at a time beating well after each egg.
Mix in the vanilla extract.
Add the dry ingredients: cinnamon, baking soda, salt, all purpose flour and oats. Mix on low speed just until evenly combined. Fold the dough a few times to make sure the bottom of the bowl has all been combined evenly.
Using a medium cookie scoop or 2 level tablespoons, scoop dough and place 2 inches apart on prepared baking sheets.
Bake cookies in preheated oven on center rack for 12-14 minutes or until the edges are light golden brown and the centers no longer look wet and glossy.
Let cookies cool on pan for 3 minutes then transfer to wire rack to cool completely.
Once cookies are completely cooled, make the icing. In a medium bowl, whisk together the powdered sugar, vanilla extract and milk until smooth. If you need to use more milk, only add about ½ teaspoon at a time until it's reached your desired consistency. You want the icing to be just a little bit thick and spreadable, not too runny so it drips off the sides of the cookies.
Drop about 2 teaspoons of icing on top of cookie and spread using the back of a spoon or a pastry brush..
Let cookies rest until icing has set, about 30 minutes or so