Dissolve the yeast in warm milk in a large bowl. Add sugar, margarine, salt, eggs and flour and mix well.
Knead the dough for about 5 min. Form into a ball. Put in a greased bowl, cover and let rise in a warm place about 1 hour or until the dough has doubled in size.
Roll the dough out on a lightly floured surface, until it is approx. 21 inches long and 16 inches wide. About 1/4 inch thick. Make filling by combining the brown sugar and cinnamon in a bowl. Spread he softened margarine over the surface of the dough, then sprinkle the brown sugar and cinnamon evenly over the surface.
Working carefully, from the long edge, roll the dough tightly down to the bottom edge. Cut the dough into 1 3/4 inch slices and place in a lightly greased baking pan. Cover and let rise until nearly doubled, about 30 minues. (Preheat oven to 400 degrees). Bake 10 minutes at 400 degrees or until light golden brown. ** While the rolls are baking combine the icing ingredients. Beat with an electric mixer until fluffy. When rolls are warm spread generously with icing.
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