For dough, dissolve yeast in water with 1/2 tsp sugar. Let stand 5 minutes.
In mixing bowl, combine 3 cups flour, 1/3 cup sugar and salt. At low speed, gradually beat in milk, oil, eggs, and yeast mixture; beat until well blended. Beat in additional flour until dough pulls away from sides of bowl.
On floured surface, knead dough until smooth and elastic, 8-10 minutes. Place in greased bowl, turning to grease top. Cover and let rise in warm, draft-free area until doubled in bulk, about 1 hour.
For filling, beat all ingredients together until smooth. Set aside. Grease 2 (9-inch) round cake pans. On lightly floured surface, roll dough into an 18 x 10-inch rectangle. Spread with filling. Roll tightly from long side. Cut into 14 (1 1/4-inch) slices. Place 1 roll cut side up in center of each pan. Arrange remaining rolls in a circle of 6 around center roll. Cover and let rise until doubled in bulk, 30 to 40 minutes.
Preheat oven to 350° F. Bake 25 to 30 minutes, until golden brown. Cool in pans 10 minutes.
Invert onto wire racks, then invert again to cool. For icing, whisk all ingredients until smooth. Drizzle over cooled rolls.Makes 4 Source: