Cinnamon Rolls

adapted from Todd Wilbur's "Top Secret" Recipe for Cinnabon's Cinnamon Rolls
Dough:
1 packet active dry yeast
1 cup milk
1/2 cup sugar
1/3 cup melted butter
1 tsp salt
2 eggs
4 cups flour
Cinnamon Filling:
1 cup brown sugar
2 1/2 Tbsp cinnamon
1/3 cup butter, melted & cooled slightly
Icing:
5 Tbsp butter, softened
2-3 cups powdered sugar
1 tsp vanilla
milk