T.J. Cinnamon's Cinnamon Rolls

Dough:
2 pkgs. active dry yeast
1/2 cup warm water (105 to 115 degrees)
1/3 cup sugar
1/2 teaspoon sugar
4−5 cups all−purpose flour, divided
1 teaspoon salt
1 cup milk, scalded and cooled to 110 degrees
1/3 cup vegetable oil
2 eggs, room temperature
Filling:
1/2 cup butter or margarine, softened
1 cup firmly packed brown sugar
1/2 cup sugar
2 tablespoons cinnamon
Icing:
1 cup confectioners' sugar
2−3 tablespoons warm milk
1 teaspoon vanilla
For dough, dissolve yeast in water with 1/2 teaspoon 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 our, about 1 1/2 cups, 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 pace until doubled in bulk, about 1 hour.
For billing, beat all ingredients together until smooth. Set aside.
Grease 2 (9−inch) round cake pans. On lightly floured surface, roll dough
into an 18− by 10−inch ectangle 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 degrees. 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.
Rolls can be made ahead. Wrap well and freeze up to 1 month. Thaw, wrapped,
at room temperature.