To prepare rolls: Measure and add liquid ingredients to the bread pan of the bread machine. Measure and add dry ingredients (except yeast) to the bread pan. Form a well in the dry ingredients; measure the yeast and carefully pour it into the well. Choose dough setting according to manufacturer directions.
Combine brown sugar and cinnamon in a small bowl, and set aside.
Turn dough out onto a lightly floured surface; roll dough into an 18 x 11–inch rectangle. Brush 3 tablespoons melted butter over dough; sprinkle evenly with brown sugar mixture.
To make mini cinnamon rolls, cut dough in half along the length of the dough so you have two 18 x 5.5 inch rectangles. Beginning at one long side, roll up each rectangle tightly, jellyroll fashion; pinch seam to seal (do not seal ends of roll). Allow rolls to rise, covered with a cotton towel, for about 30 minutes. (Need more help rolling or cutting the cinnamon rolls? Take a look at my tutorial.)
Cut dough into 18 (1-inch) slices. Arrange slices, cut sides up, on baking sheets coated with cooking spray or lined with a silpat. Cover with a cotton towel, and let rise about 30 minutes or until doubled in size. At this point, cinnamon rolls may be frozen. Place baking sheets in freezer. Once frozen, store in ziptop bags and pull out as many cinnamon rolls as you need for breakfast.
Preheat oven to 350°F. Uncover rolls (no need to defrost if they were frozen). Bake at 350° for 13-15 minutes or until lightly browned.
To prepare icing: Combine all ingredients adding cream or milk to achieve desired consistency. Spread icing over rolls; serve warm. Store leftover icing in the freezer in a small covered container. Microwave a couple spoonfuls on high power for about 10 seconds to bring it back to spreadable consistency.
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