1 c. skim milk
3 tbsp. sugar
1 tbsp. butter
1 pkg. dry yeast
1/4 c. warm water
1 egg, beaten
1/2 tsp. salt
3 3/4 c. plus 2 tbsp. dry bread
Vegetable cooking spray
2 tbsp. butter, melted
1/4 c. plus 2 tbsp. firmly packed brown sugar
2 c. cinnamon
1/2 c. powdered sugar
1 tbsp. skim milk
1/2 tsp. vanilla

Heat milk over medium high heat in heavy saucepan until tiny bubbles form around edge (do not boil). Remove from heat; add sugar and butter until melted. Let cool until just warm. Dissolve yeast in water in large bowl; let stand 5 minutes. Add milk, egg, and salt; stir well.

Gradually stir in 3 1/2 cups flour to make a soft dough. Turn out onto a lightly floured surface. Knead until smooth and elastic, adding enough of the remaining flour, 1 tablespoon at a time, to keep dough from sticking to surface. Place dough in large bowl, coated with cooking spray, turning to coat top. Cover and let rise in warm place about 1 hour or until doubled in bulk.

Punch down dough. Turn out onto lightly floured surface; roll into 1 20 x 8 inch rectangle. Brush melted butter over entire surface. Combine brown sugar and cinnamon; sprinkle evenly over dough. Beginning at long side, roll up dough tightly, jelly roll fashion; pinch seam to seal. Do not seal ends of roll. Cut into 20 (1 inch) slices. Arrange slices, cut sides up, in 13 x 9 x 2 inch baking dish coated with spray. Cover and let rise in a warm place 30 minutes or until doubled in bulk. Bake at 350 degrees for 22 minutes. Combine powdered sugar, milk, and vanilla; stir well. Drizzle over rolls. Makes 20 rolls, 141 calories.