Combine yeast in the warm water, stir until completely dissolved. Add the bit of sugar. Let stand 20 min.
Warm milk to steaming and remove from the heat. Allow to cool until warm. Add yeast mixture. Add sugar and margarine - let the margarine melt and cool a bit more. Add the beaten eggs, wisking in gently until all is well combined.
When just barely warm, add 2 cups of flour, 1 at a time, stirring to produce a sticky dough. Put out on well floured, covered board or table covered with wax paper - floured with 1 cup to 1 1/2 c. flour.
Work in 2 C flour slowly. Sprinkle flour by 1/2 c. increments over the flour and knead about 15 to 20 min) into a soft dough.
Grease 1 large mixing bowl very well. Make dough into a large ball and put into the bowl, turning to completely grease the dough. Place tuck side down.
Place bowl in a warm place Covered with a towel. If the room is cold, put oven on warm and open oven door a little bit. Place bowl on the oven top. Allow to raise about 1 - 2 hours or until doubled, and check by pushing a finger into the dough. If it is ready, the dough will fill in slowly.
Punch dough down, collapsing it. Take out onto bread board or clean waxed paper with 1/2 c flour sprinkled on it. Fold and knead about 6 times.
Cut into 2 pieces.
Roll dough out longwise, about 2 feet, leaving 6 in width. Using half the margarine, sugar/cinnamon mix, Butter the dough liberally, Add sugar/cinnamon mix liberally . Sprinkle on nuts or raisins or apples if you like.
Roll up longwise and pinch sides. Cut into 1/2 in pieces. Repeat with the rest of the dough. Place in 2 square cake pans or 2 round cake oans oe 2 pie plates - about 1 in. apart.
When the rolls are touching closely or about 25 to 30 min, heat oven to 375 degrees. Put in oven - 2 on the center shelf. Bake about 20 - 25 min., checking doness - rolls will have raised up to the top and will be lightly browned.
Make glaze by combining 1 tsp. vanilla, the butter with powd3ered sugar until it is thick. Thin out with milk, adding sugar and milk a little at a time until you reach a medium runnyness: pours off a spoon easily. If you want more frosting - add milk in TB. and add sugar by spoonfulls, to make the right thickness
Take rolls out and allow to cool until just barely warm. Make med - thin vanilla glaze and drizzle on top of cinnamon rolls - About 1 1/2 TB for each roll
Allow to cool. You can eat them warm or cool. Warm is much better. This is good at brunch or breakfast. But it is a good snack anytime.