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. In a small bowl, combine brown sugar and cinnamon.
Roll dough into a 16x21 inch rectangle. Spread dough with 1/3 cup butter and sprinkle evenly 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 400 degrees F (200 degrees C).
Bake rolls in preheated oven until golden brown, about 15 minutes. While rolls are baking, beat together cream cheese, 1/4 cup butter, confectioners' sugar, vanilla extract and salt. Spread frosting on warm rolls before serving.
Without bread mechine Directions.... Dissolve the yeast in the warm milk in a large bowl. Mix in the sugar, margarine, salt, and eggs. Add flour and mix well. Knead the dough into a large ball, using your hands dusted lightly with flour. Put in a bowl, cover and let rise in a warm place about 1 hour, or until doubled in size. Then pick up with rolling out the dough.