We tried these; they're OK, but perhaps not enough better than Pillsbury to be worth the time.
Combine the yeast and warm water and let stand until the yeast is completely dissolved, about 5 minutes. Combine all remaining ingredients in a large bowl. Add the dissolved yeast and using an electric mixer with a dough hook, blend together on low speed. The beat on high for 5 minutes. Turn onto a lightly floured board. Lightly grease and cover. Let rise 1 hour. Roll risen dough into a 20 x 10 inch rectangle. spread with the filling. Roll up starting on the long side. Pinch the edges to seal. Cut into 1 inch slices. Place on a well greased cookie sheet. Let rise until almost doubled in bulk. Bake at 350 degrees for 15 to 20 minutes. Remove from the pan and frost with the glaze.
Combine all the ingredients and set aside.
Combine the sugar with just enough milk to make a glaze of spreading consistency. Do not make ahead!!