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Rolls: Dissolve yeast in warm milk in large bowl. Add remaining roll ingredients. Mix well.
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Knead dough into large ball using hands dusted lightly with flour. Cover and let rise until double. About 1 hour.
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Roll dough onto lightly floured surface into 21x16 inch rectangle. Should be about 1/4 inch thick.
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Preheat oven to 400 degrees.
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Filling: Combine brown sugar and cinnamon.
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Spread softened margarine evenly over the surface of dough.
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Sprinkle cinnamon and sugar evenly over surface.
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Working carefully from a 21 inch side, roll dough to opposite edge.
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Cut rolled dough into 1 3/4 inch slices - for a total of 12.
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Place 6 rolls on each lightly greased cookie sheet.
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Bake 10 minutes or until lightly brown.
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While rolls are in oven: combine icing ingredients until fluffy.
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Coat each cinnamon roll generously with icing after removing from oven.