In a mixing bowl, dissolve yeast in water. Add the next 7 ingredients and 3 cups flour; beat until smooth. Add enough remaining flour to form a soft dough. Turn onto a floured board; knead until smooth, about 6-8 minutes. Place in a greased bowl, turning once. Cover and let rise in a warm place until doubled, about 2 hours. Punch dough down, roll into a 16x10 rectangle, about 1/2-inch thick. Cut into 10x3/4 strips; roll lightly and tie into a knot. Place on greased baking sheets; tuck the ends under. Cover and let rise until doubled, about 30 minutes. Bake at 400°F for 10-12 minutes until golden brown. Cool on wire racks. Combine icing ingredients; drizzle over rolls.
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