From the kitchen of Kathy Nowell, Tulare, South Dakota
Preheat oven to 350 degrees. Place all dough ingredients in bread machine in order given. Set on "Dough" setting and turn on machine.
Make caramel: Melt 1 stick of margarine and add 1 cup of brown sugar and 1 cup of vanilla ice cream in a saucepan. Bring to a boil and boil for a couple of minutes. Remove from stove and pour into a lightly greased 13- x 9- x 2-inch pan.
When machine has finished cycling, remove dough from pan, place on lightly floured surface. Pat dough into a rectangle, spread with butter and sprinkle lightly with cinnamon. Crumble about 1/2 cup brown sugar all over. Roll up into a long roll and seal edges.
Cut into 12 equally sized rolls, place in prepared pan of caramel and let them raise until doubled, about 45 minutes or so. Bake for approximately 20 to 25 minutes, until golden brown.
In small saucepan, heat topping ingredients and pour over rolls.