In bread machine pan, place the first seven ingredients in order suggested by the manufacturer. Select dough setting (check dough after 5 minutes of mixing; add 1 to 2 tbsp of water or bread flour if needed.)
When the cycle is completed, turn dough onto a lightly floured surface. Roll into two 12 x 7 rectangles. In a small bowl, combine the brown sugar, flour and cinnamon; cut in butter until mixture resembles coars crumbs. Sprinkle half over each rectangle. Roll up jelly-roll style, starting from a long side; pinch seam to seal.
Cut each roll into 12 slices. Place cut side down in one greased 13 x 9 x 2 in baking pan. Cover and let rise in a warm place until doubled, about 20 minutes.
Bake at 375 for 20-25 min or until golden brown. Cool on a wire rack for 5 min. In a small mixing bowl, combine the confectioners' sugar, butter, syrup and enough milk to achieve desired consistency. Spread over warm rolls.
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