Thaw frozen bread dough overnight in lightly sprayed loaf pan; covered with sprayed plastic wrap.
Spread thawed dough onto a large baking sheet; approximately 15x20 inches; and 1/4 inch thick. Combine brown sugar and cinnamon. Spread melted butter over dough, and sprinkle with brown sugar and cinnamon mixture.
Working carefully, from the long edge, roll the dough. Cut the dough into 1 3/4 inch slices and place in a lightly greased 8x8 inch baking pan. Should make 12 rolls.
Bake at 400 degrees for 20-23 minutes in preheated oven until golden brown.
While the roll are baking, combine the icing ingredients with a whisk until smooth. Remove the rolls from the oven when nicely browned and allow to cool slightly. Spread icing over rolls.