Combine brown sugar, flour and cinnamon then cut in butter and place in refrigerator until needed.
Place ingredients in the pan of the bread machine in the order recommended by the manufacturer. Select dough cycle; press Start.
After the dough has doubled in size turn it out onto a lightly floured surface, cover and let rest for 10 minutes.
Roll dough into a 16x21 inch rectangle. Spread dough with sugar/cinnamon mixture. Roll up dough and cut into 12 rolls. Place rolls in a lightly greased 9x13 inch-baking pan. Cover and let rise until nearly doubled, about 30 minutes. Meanwhile, preheat oven to 350°
Bake rolls in preheated oven until golden brown, about 25 to 30 minutes. Drizzle frosting on warm rolls before serving.
I actually make these every Sunday and sell them to a local bookstore/coffeeshop...they freeze them and sell them during the week. The best thing about this recipe is that you can let them rise and bake them right away, freeze them before baking, or let them rise overnight in the refrigerator. They have a lovely soft texture. I always make a few extra for us. DH loves getting cinnamon rolls every Sunday.