Place dough ingredients in your bread machine in the order suggested by the manufacturer. If do not have a bread machine, see notes below. Set machine to dough setting.
Once dough setting is complete, turn dough out onto a floured surface. Stretch and roll dough into a roughly 9" x 13" rectangle.
Spread melted butter on to the dough. Spread out using a brush or your fingers, then sprinkle with brown sugar and cinnamon, making sure to evenly cover dough.
Starting from the long end, roll the dough into a log - jelly roll style. Cut log into 12 equal size pieces.
Place rolls in a 9" x 13" baking pan. Cover pan and let rolls rise for approximately 30 mins.
Preheat oven to 350. Once rolls have almost doubled in size, bake for 20-25 mins until golden brown.
While rolls are baking, prepare the frosting by mixing the topping ingredients with a stand or hand mixer until smooth. Spread on warm cinnamon rolls. ENJOY!