Good-Cooking - Frosted Cinnamon Rolls

Ingredients

• 1 cup milk
• 1/4 cup water
• 1/4 cup butter, softened
• 1 egg
• 1 teaspoon salt
• 4 cups bread flour
• 1/4 cup instant vanilla pudding mix
• 1 tablespoon granulated sugar
• 1 tablespoon active dry yeast
• 1 cup packed brown sugar
• 2 teaspoons ground cinnamon
• 4 ounces cream cheese, softened
• 1 1/2 cups confectioners' sugar
• 1 1/2 teaspoons milk
• 1/2 teaspoon vanilla extract