Heat oven to 350°F. Spray or grease large cookie sheet.
Separate dough into 8 rounds; unroll into strips. To make bones, roll each strip between hands until 13 inches long. Loosely tie knot in both ends of each strip; place 2 inches apart on cookie sheet.
Bake 11 to 15 minutes or until golden brown. Immediately remove to cooking rack; cool 5 minutes.
Meanwhile, in small bowl, mix icing, peanut butter and milk. Stir in chocolate chips. Serve “bones” with glaze mixture for dipping.