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In bread machine pan, place the first seven ingredients in order suggested by manufacturer. Select dough setting (check dough after 5 minutes of mixing; add 1 to 2 tablespoons of water or bread flour if needed)., When the cycle is completed, turn dough onto a lightly floured surface. Roll into two 12x7-in. rectangles. In a small bowl, combine the brown sugar, flour and cinnamon; cut in butter until mixture resembles coarse crumbs. Sprinkle half over each rectangle. Roll up jelly-roll style, starting from a long side; pinch seam to seal. , Cut each roll into 12 slices. Place cut side down in one greased 13x9-in. baking pan. Cover and let rise in a warm place until doubled, about 20 minutes., Bake at 375° until golden brown, 20-25 minutes. Cool on a wire rack for 5 minutes. Meanwhile, in a small bowl, combine the confectioners' sugar, butter, syrup and enough milk to achieve desired consistency. Spread over warm rolls.