Place 1.5 cups flour into a bowl. Add sugar, yeast, and salt. Stir to mix.
Place the milk, water, and margarine in a microwave-safe dish and microwave until heated to 120 to 130 degrees.
Add the milk mixture to the flour mixture and beat for two minutes.
Add another cup of flour to dough mixture and beat another two minutes.
With a spoon or your hands, mix in as much of the remaining flour as you can.
Turn the dough out onto a floured surface and knead the dough until it is firm and no longer sticky and smooth. About 5 minutes.
Place the dough in a greased bowl and let rise in a warm spot for 15 minutes.
Punch dough down and divide into two equal portions.
Roll out one portion of dough into a rectangle on a floured surface.
Spread 2 tablespoons of softened butter onto the dough rectangle.
In a small bowl mix the brown sugar and cinnamon together. Spread half of the brown sugar mixture over the buttered dough.
Roll the dough up from one end to the other. I usually start at the short end of the dough and roll up.
Pinch the edges of the dough to secure it.
Cut the dough roll into 1-inch sections, with a sharp knife. Place the rolls into a greased cake pan.
Repeat for the second portion of dough.
Place the rolls in a warm place and let rise for 15 minutes or until doubled in size.
Bake in 375-degree oven for about 20 minutes.
While rolls are baking, make the glaze. Add the powdered sugar to a small bowl with the vanilla and one tablespoon of milk. Mix well. If the glaze is too thick to drizzle, add a little more milk to reach drizzling consistency. Set aside until rolls are done baking.
Once rolls are done remove from the oven and drizzle with glaze.
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