Cinnamon Rolls and overcoming my fear of yeast

I think I only made cinnamon rolls a couple of times with my mom growing up, not because I didn't like them, but because I hate working with yeast.  Making cinnamon rolls always seemed messy and fussy and I just could not get past the fact that during the whole process there is an actual growing organism sitting on my counter, smelling up the kitchen.
So have I gotten you in the mood for cinnamon rolls?  Well I think I've found my solution to a much simpler process that eliminates the whole bowl of yeast of the counter thing.  This type of recipe may not be new to you, but it had never occurred to me that it could be made with a bread machine (probably because I don't own one).  I borrowed the breadmaker from my friend down the street and dove in.  They turned out absolutely wonderful.  I can't stand dry cinnamon rolls, but these were moist and delicious.  Besides using a bread machine, there is one other trick that sets this recipe apart- pouring a little caramel in the bottom of the pan before placing the rolls in to rise.  It just seems to take them to a whole new level.
For the icing I made up my own with a combination of a little cream cheese (only a little, I don't like a total cream cheese frosting) butter, whipping cream, vanilla, and powdered sugar.  Turned out great.  They were devoured my the class I teach each morning.  So if you're looking for a simpler, absolutely awesome cinnamon roll- give these a try!

Cinnamon Rolls

1 cup warm water (110 degrees F)

1 egg

3 cups bread flour

1/4 cup white sugar

3 tablespoons instant powdered milk

1 1/2 teaspoons salt

5 tablespoons butter, softened

1 teaspoon instant yeast

1/3 cup butter

1/2 cup vanilla ice cream

1/2 cup brown sugar

1/2 cup butter, softened (for spreading)

1 tablespoon ground cinnamon

1/2 cup brown sugar

Place water, egg, bread flour, white sugar, powdered milk, salt, 5 tablespoons butter and yeast in bread machine in the order suggested by the manufacturer. Select DOUGH setting, and turn machine on. Meanwhile, in a small saucepan, melt 1/3 C butter.  Add 1/2 C brown sugar and ice cream; bring to a boil, and cook for 2 minutes.  Pour caramel into the borrom of a lightly greased 9x13 pan. Preheat oven to 350 degrees When machine has finished cycling, remove dough from pan and turn it out onto a lightly floured surface.  Pat dough into a rectangle.  Spread with softened butter and sprinkle lightly with cinnamon.  Crumble 1/2 C brown sugar over the top.  Roll up lengthwise and seal edge.  Cut into 12 rolls, and place in prepared pan of caramel.  Allow to rise until doubled in size, about 45 minutes. Bake at 350 degrees for 20 to 25 minutes or until golden brown. Use your favorite frosting!