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Place the ingredients for the dough in your bread machine in the order listed.
Run your machine on a dough cycle.
Make the cinnamon sugar filling: Combine brown sugar and 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.
Place pinwheels on greased metal baking sheet.
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.
Combine ingredients to make icing and spread over warm rolls so it melts into them.