Preheat the oven to 350°F. Line an 8×8-inch baking pan with parchment paper, leaving a bit hanging over the sides.
In a large bowl, mix oats, flour, baking soda, cinnamon, and salt. Give it a quick stir so everything’s evenly distributed.
In another bowl, whisk the melted butter with both sugars until smooth. Stir in the egg and vanilla extract.
Pour the wet mixture into the dry ingredients and mix until just combined. No over-stirring—we want tender bars, not oat bricks.
Spread the dough evenly into the prepared pan. Use a spatula or your hands (honestly, hands are faster).
Bake for 18–20 minutes, or until the edges are lightly golden and the center looks set.
Cool in the pan for 10 minutes, then lift the bars out using the parchment and cool completely on a wire rack.
Mix the powdered sugar and milk together in a bowl until smooth. Drizzle or spread over the cooled bars.
Let the icing set before slicing into squares. Or don’t—if you like sticky fingers, I won’t judge.