Over low heat, combine butter & milk in medium saucepan. Stir until the butter is liquid & then pour mixture into large mixing bowl.
Let mixture cool for 5 minutes or until temperature of warm bath water. Add in yeast & let activate for 10 minutes.
Add in 1 tbsp granulated sugar & salt. Stir.
Add in flour 1 cup at a time while stirring.
Place dough on lightly floured surface & knead for one minute. Place ball of dough into sprayed mixing bowl, cover with plastic wrap, & place in warm area to rise until doubled in size.
On lightly floured surface, flatten dough until about ½ inch wide & ¼ inch thick.
In mixing bowl, combine all filling ingredients & sprinkle onto dough. (make caramel sauce by mixing ingredients in large skillet over medium heat until smooth)
Starting at one end of the dough roll inwards towards other end of dough. Once it is in a log shape, slice with knife or floss into 1.5 inch rolls.
Preheat oven to 350 F. Line circular baking dish with cinnamon rolls next to one another. Bake for 25-30 minutes or until golden brown.
Once rolls have cooled for about 5 minutes, in small bowl combine all icing ingredients. Drizzle over cinnamon rolls. Serve & enjoy!