Vanilla Cinnamon Rolls

2 Cups Cold milk
1 (3 1/2 ounces) pkg. Vanilla instant pudding
2 (1/4 ounce) pkgs. Active dry yeast
1/2 C. Warm water
1/2 C. Butter, melted
2 T. Butter, melted
2 Eggs
2 T. Sugar
1 tsp. Salt
6 C. Flour
1/2 C. Brown sugar
1 tsp. Cinnamon


Frosting

1 C. Brown sugar
1/2 C. Heavy whipping cream
1/2 C. Butter, cubed
2 C. Confectioners' sugar

1. In a bowl, whisk milk and pudding mix for 2 minutes; set aside. In a large mixing bowl, dissolve yeast in warm water. Add 1/2 cup butter, eggs, sugar, salt and 2 cups flour. Beat on medium speed for 3 minutes. Add pudding; beat until smooth. Stir in enough remaining flour to form a soft sough.
2. Turn onto a floured surface; knead until smooth and elastic, about 6-8 minutes. Place in a greased bowl, turning once to grease top. Cover and let rise in a warm place until doubled, about 1 hour.
3. Punch dough down. Turn onto a floured surface; divide in half. Roll each portion into an 18 x 11 inch rectangle; brush with remaining butter. Combine brown sugar and cinnamon; sprinkle over dough to within 1/2 inch of edges.
4. Roll up jelly-roll style, starting with a long side; pinch seams to seal. Cut each into 16 slices. Place cut side down in two greased 13 x 9 x 2 inch baking dishes. Cover and let rise until doubled, about 30 minutes. Bake at 350 for 20-25 minutes or until golden brown.
5. Meanwhile, in a large saucepan, combine the brown sugar, cream and butter. Bring to a boil; cook and stir for 2 minutes. Remove from the heat. Beat in confectioners' sugar with a hand mixer until creamy. Frost Rolls. Serve warm.