To make cinnamon rolls that taste like those sold by Cinnabon, begin by preheating the oven to 350 degrees Fahrenheit. Mix one 1/4 ounce package of active dry yeast with one cup of warm milk in a small bowl.
In a separate bowl, mix together 1/2 cup of sugar, 1/3 cup of margarine, 1 teaspoon of salt, 2 eggs and 4 cups of flour. Add the yeast mixture, and blend until well incorporated. Place dough into a greased bowl. Cover, and let rise until the dough has doubled in size, or approximately 1 hour. On a lightly floured surface, roll the dough to 1/4-inch thickness and approximately 16 inches long by 12 inches wide.
To make the cinnamon roll filling, combine 1 cup of packed brown sugar with three tablespoons of cinnamon and 1/3 cup of margarine. Spread the mixture over the rolled out dough.
Starting from the long edge of the dough, roll the dough toward the bottom edge. For large cinnamon rolls, cut the roll into 2 1/2 inch slices; for smaller rolls, cut into 1 1/2 inch slices.
Place the rolls into a greased 9x13-inch baking pan. Cover the pan with a damp towel, and let rise for 30 minutes or until the rolls double in size. Bake in preheated oven until rolls are golden brown, or approximately 25 minutes.
To prepare icing, mix 6 tablespoons of margarine with 1 1/2 cups of powdered sugar, 1/4 cup of cream cheese, 1/2 teaspoon of vanilla and 1/8 teaspoon of salt. Use an electric mixer to blend until the icing is fluffy.
When rolls are removed from the oven, cover with icing, and serve.