Dissolve the yeast in warm water.
Let it sit for about 5 minutes.
In a large bowl, combine sugar, milk, and melted margarine.
Add in the yeast mixture.
Mix in the salt and flour, forming a dough.
Knead until smooth.
In a separate bowl, blend brown sugar with cinnamon and softened butter.
Spread this mixture across the rolled-out dough.
Roll the dough back up and cut into pieces.
Arrange them in a greased pan.
Preheat your oven to 350°F and bake for 20-25 minutes.
While baking, whip cream cheese, powdered sugar, vanilla, and milk to make the frosting.
Once removed from oven, spread the frosting over the warm cinnamon melts.