Cinnamon Swirl Breakfast Bread

In bread machine pan, place the first eight ingredients in order suggested by manufacturer. Select dough setting (check dough after 5 minutes of mixing; add 1 to 2 tablespoons water or flour if needed)., When cycle is completed, turn dough onto a lightly floured surface; divide in half. Roll each portion into a 10x8-in. rectangle. Brush with butter. Combine sugar and cinnamon; sprinkle over dough. , Roll up tightly jelly-roll style, starting with a short side. Pinch seams and ends to seal. Place seam side down in two greased 9x5-in. loaf pans. Cover and let rise in a warm place until doubled, about 1 hour. Preheat oven to 350°., Bake for 25 minutes. Cover with foil; bake until golden brown, 5-10 minutes longer. Remove from pans to wire racks to cool completely. , In a large bowl, combine the confectioners' sugar, vanilla and enough milk to achieve desired consistency; drizzle over warm loaves.