In bread machine pan, place the first seven ingredients in order suggested by the manufactuer. Select dough setting (check dough after 5 minutes of mixing; add 1 to 2 T. of water or bread flour if needed). When the cycle is completed, turn dough onto a lightly floured surface. Roll into two 12 inches x 7 inches rectangles. In small bowl, combine the brown sugar, flour and cinnamon; cut in butter until mixture resembles coarse crumbs. Sprinkle half over each rectangle. Roll up jelly-roll style, starting from a long side; pinch seam to seal. Cut each roll into 12 slices. Place cut side down in one greased 13 x 9 x 2 inches baking pan. Cover and let rise in a warm place until doubled, about 20 minutes. Bake at 375 for 20-25 minutes or until golden brown. Cool on a wire rack for 5 minutes. In a small mixing bowl, combine the confectioners' sugar, butter, syrup and enough milk to achieve desired consistency. Spread over warm rolls.