Place the first 7 ingredients in the bread maker in order. Select the dough cycle. After the dough cycle has completed and dough has doubled, turn onto a lightly floured surface.
Cover and rest @10 minutes.
Combine brown sugar and cinnamon in a small bowl.
Roll dough into a 16 X 21-inch rectangle. Spread melted butter over the dough and sprinkle with cinnamon-sugar mixture over top covering the entire surface. Roll up lengthwise.
With dental floss, cut dough into 12 equal pieces.
Place rolls in a lightly greased 9 X 13 pan. Cover and lest rise until nearly doubled. (30-45 minutes.)
Bake in a 400° oven @ 15 minutes or until golden brown.
Beat together frosting ingredients an spread over cinnamon rolls while still warm.