Does anyone have a recipe for a sweet dipping sauce?

I am trying to make a sweet dipping sauce to go with a cinnamon sugar knot recipe that I’m making. I’m looking to make something similar to the sauce you get with Domino’s Cinnasticks – a sweet icing that is viscous enough to dip things into. The more simple the recipe and the more common the ingredients, the better. Do you know of anything along those lines?