Place all the sweet roll dough ingredients in a bread machine pan set to dough only setting. The bread machine will mix, knead and signal the end of the dough rising. Usually about 1 1/2 hours. You can also use an upright mixer with the dough hook. Once the dough ball is fully shaped and the texture is smooth, allow it to rise in the mixer bowl covered with plastic wrap to prevent drying. Allow the dough to double in size. Again, about 1 1/2 hours.
After rising, place the dough on a lightly floured surface and roll out into a rectangle, about 15 x 9 inches.
Next, spread the softened margarine or butter evenly over the surface, just short of the edges.
Then sprinkle the sugar and cinnamon evenly over the butter, again, just shy of the edges.
Roll dough up tightly starting on the 9-inch side, folding the outer sides in about 1/2-inch as you go to form a natural seal on the ends.
Firmly pinch the end seam against the body of the roll to seal. Stretch roll to make even.
Cut into 12 equally sized rolls.
Place equally spaced in the prepared baking pan, then cover with plastic wrap to prevent drying. Allow the rolls to double in size, about 40 minutes
Place into an oven preheated to 375° F and bake until golden brown, about 25 to 30 minutes.
Allow to cool for 10-15 minutes.
For the glaze, whisk the powdered sugar, melted butter, vanilla extract, and half the milk until smooth, adding more milk as necessary after whisking without allowing the glaze to become too runny. The glaze should pour thickly onto the cinnamon rolls.
Glaze and serve.
If using a convection oven at 375° F, only bake for 20 minutes, or until golden brown.