Place the ingredients for the dough in your bread machine in the order listed. If your machine doesn't have a yeast dispenser, just nestle the yeast in on top of the flour (don't let it touch the wet ingredients). 

Run your machine on a dough cycle.

Make the cinnamon sugar filling: Combine 1 1/2 cups brown sugar and 2 tablespoons cinnamon in a small bowl. Set aside. 

After dough is done, take it out and split the dough into two mounds.

On a lightly floured surface, roll one mound of your dough out into roughly a 18x12-inch rectangle.

Spread half of the melted butter over the rolled-out dough.

Sprinkle about half of the cinnamon sugar over the melted butter making sure to cover as much surface with the filling as you can.

Starting at one long ends of your rectangle of dough, roll it up.

Using a sharp knife, slice the dough into roughly 1-inch pieces. The result will be a pinwheel shaped form when turned on its side.

Place pinwheels on greased metal baking sheet. I like mine slightly touching each other so they all are soft and not too browned on the outside but if you want them not touching, spread them apart on the sheet pan.

Repeat the steps above with the second mound of dough.

Cover assembled rolls with a lightweight hand towel and let rise in a warm environment for 25-30 minutes.

Preheat the oven to 350°F. Bake for 17-20 minutes or until lightly brown on top (add a few extra minutes if using a glass dish). Tap the middle of the roll to see if it bounces back. If it does, it's probably done!

Combine ingredients to make icing and spread over warm rolls so it melts into them.