Dissolve yeast in water in a large mixer bowl. Let stand for 2 to 3 minutes. Add 2 cups flour, sugar, salt, butter and eggs. Beat 3 minutes, until smooth. Add enough remaining flour to form a soft dough.
Turn out onto lightly floured surface and knead 6 to 8 minutes, until smooth and elastic. Place dough in a greased bowl, turning once to coat. Cover and let rise in a warm, draft free place until doubled, about 1 hour.
Mix all filling ingredients in a small bowl.
Punch dough down. Roll dough into a 15 x 10-inch rectangle. Spread filling over dough. Roll up from long side and cut into 12 equal slices. Place cut side down in a greased 13 x 9-inch baking pan.
Cover and let rise until doubled, abut 30 minutes.
Combine topping ingredients and sprinkle evenly over rolls.
Bake in preheated 350°F oven for 35 minutes or until golden brown. Cool 15 to 20 minutes.
For drizzle, combine powdered sugar, vanilla and enough milk to reach desired consistency. Drizzle over warm rolls.