Frosted Cinnamon Rolls

In bread machine pan, place first nine ingredients in order suggested by manufacture. Select dough setting (check dough after 5 minutes of mixing; add 1-2 tablespoons water or flour if needed). , When cycle is completed, turn dough onto lightly floured surface. Roll into a 17x10-in. rectangle. Spread with butter; sprinkle with brown sugar and cinnamon. Roll up, jelly-roll style, starting from a long side; pinch seam to seal. Cut into 21 slices. , Place 12 slices, cut side down, in a greased 13x9-in. baking pan and nine rolls in a 9-in. square baking pan. Cover; let rise in a warm place until doubled, about 45 minutes. , Bake at 350° for 20-25 minutes or until golden brown. Cool on wire racks for 10 minutes., In a large bowl, beat frosting ingredients until smooth. Frost warm rolls. Store in refrigerator.