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Dissolve yeast in warm milk in a large mixing bowl. Mix in sugar, margarine, salt and eggs. Add flour slowly until combined. Knead dough until smooth and elastic. Place dough in a large greased bowl, cover, and let rise until doubled in size.
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Once dough has doubled in size, combine brown sugar and cinnamon in a small bowl. Set aside.
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Preheat over to 350.Roll out dough to a 16 by 21 inch rectangle. Spread butter evenly over dough and sprinkle with brown sugar mixture. Cover and let rise until doubled. (Or refrigerate overnight and allow to rise in the morning.)
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Bake rolls in preheated oven for 20 minutes or until golden brown. While rolls are baking combine butter, cream cheese, powdered sugar, vanilla, and salt. Spread frosting oven warm rolls before serving.