Heat milk and let cool to room temperature. Sprinkle yeast over warm water in large bowl. Add 1 T. sugar and let stand for 5 minutes until foamy. Beat in remaining 2 T. sugar, eggs, milk. Add cooled milk. Gradually add flour and salt. Knead for 10 minutes. Grease bowl, add dough, cover until doubled in size (about 1 1/2 hours).
Grease pans. Mix together filling ingredients. Roll out dough into 12x18 inch rectangle. Spread filling over dough. Roll. Cut into 14 slices. Arrange in pans. Cover and let rise 30-45 minutes. Bake at 350 for 30-40 minutes. Glaze.
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