1. Dissolve yeast in milk. Add sugar, butter, salt and eggs. Add flour and mix well.
2. Knead dough, then cover and let rise for one hour.
3. Preheat oven to 350 degrees Fahrenheit.
4. Roll out dough into a rectangle, then spread butter over dough and sprinkle with brown sugar and cinnamon.
5. Roll up and cut into one-inch slices. Place onto cookie sheet and let rise for 30 minutes.
6. Bake for 14 minutes. Coat with icing while rolls are still warm.