The night before you plan to bake the rolls, roll out each loaf of thawed bread into a large rectangle (bring dough to room temperature first) on a lightly floured surface. Each loaf should be rolled out into about a 9x16 rectangle.
Mix together the filling ingredients. The consistency will resemble paste. Divide mixture in half and spread half on each rolled-out rectangle. I use my fingers to press the filling into the dough a little. The filling will probably not cover the dough completely. Just get it as equally dispersed as possible.
Roll each rectangle up tightly. Start with the shortest side nearest you first. Once rolled, trim off each end and then cut each of the 2 rolls into 6 equal pieces. You'll end up with 12 pieces.
Butter a 9x13 baking pan. Place the rolls in four rows of three into the pan. Cover tightly with plastic wrap and stick in the fridge overnight.
In the morning, remove rolls from the refrigerator and let rise. Once risen bake rolls for 20-30 minutes for 350 degrees, or until slightly browned.
In a small bowl, whisk together icing ingredients, adding more milk to thin glaze if necessary. Pour glaze over warm cinnamon rolls. (You may not need all the icing)