In a mixing bowl combine eggs, milk, butter and yeast and mix until combined.
Add flour, caster sugar and salt and using a wooden spoon or spatula mix untill dough starts to come together.
Dust a clean surface with some flour and transfer the mixture on to it. Knead the dough until its smooth. You can also make the dough in stand mixer.
Place the dough into an oiled bowl, cover and let rise in a warm place about 1 hour or until the dough has doubled in size.
Combine the brown sugar and cinnamon in a bowl.
Roll the dough out on a lightly floured surface, until it is approximately 16 inches long by 12 inches wide and approximately 1/4 inch thick.
Spread the softened butter evenly over the dough and then sprinkle with the cinnamon sugar evenly over the surface of the dough.
Roll the dough down making it into a log shape Cut the dough into 2 inch slices, and place in a lightly greased baking pan. I use floss to cut into slices,it cuts it very clean and even.
Grease a pan or dish with butter and put the cut slices in it. Cover with a clean kitchen towel or plastic wrap and let them rise for another 30 minutes, or until doubled in size.
Bake them in a preheated 160 C/350 F degree oven for 20 -25 minutes or until golden brown. If they are turning brown too quickly cover the tray lightly with the foil.
While the rolls are baking make the icing by mixing all the icing ingredients and beat well with an electric mixer until fluffy and smooth. Spread the icing over the warm cinnamon rolls.