Dissolve the yeast in warm milk (105-110 temp) and set aside.

In a separate bowl, or a stand mixer bowl, add sugar, butter, salt, eggs and mix well. Pour in the milk/yeast mixture and mix well. Change paddle to the dough hook and add flour 1 cup at a time mixing after each until well incorporated.

Place dough into an oiled bowl, cover with a towel and let rise for 1 hour in a warm place. Dough should double in size.

To make the cinnamon filling, combine in a medium bowl the butter, brown sugar and cinnamon.

Lightly flour your work surface and knead dough for 5 minutes. Roll out to 18 inches long x 12 inches wide and 1/4 inch thick rectangle.

Spread the brown sugar mixture evenly over the dough surface.

Start to roll the dough from the long end tightly to the other end.

Butter or lightly spray a 13 x 9 baking dish.

Cut the rolls into 1 1/2 inch thick slices. Place into baking dish and cover with a damp towel and let rise for 30 minutes. (They should double in size.)

Preheat oven to 350 degrees and bake rolls for 20 minutes until golden brown.

While rolls are baking start mixing the ingredients for the icing until fluffy.

When the rolls are done, spread with icing while still warm. Enjoy.