Dissolve yeast in water. Add milk, butter, sugar, salt, eggs and 1-1/3 cups flour; beat until smooth. Stir in enough of the remaining flour to form a soft dough. On a floured board, knead until smooth and elastic, 6-8 minutes. Place in a greased bow; turn once to grease top. Cover and let rise in a warm place until doubled, about 1 hour. Meanwhile, melt butter in a saucepan. Add remaining filling ingredients; bring to a boil, stirring constantly. Reduce heat; simmer 3-4 minutes or until thickened. Remove from heat; cool. Punch dough down; divide in half. Roll each half into a 15x12 rectangle; spread with filling. Roll up, jelly-roll style, starting with long side. Slice into 1-inch rolls. Place with cut side down in two greased 13x9x2 baking pans. Cover and let rise until doubled, about 1 hour. Bake at 350°F for 20-25 minutes. Cool. Combine glaze ingredients; drizzle over rolls.
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