In a bowl, dissolve yeast in water. Add next 7 ingredients; mix well (do not knead). Place in a greased bowl; turn once to grease top. Cover and let rise in warm place until doubled, about 1 hour.
Punch down. Turn onto a lightly floured surface; divide in half. Roll each half into a 12x8-in. rectangle; brush with butter. Combine filling ingredients; spread over dough. Roll up from long side; seal seam. Slice each roll into 12 rolls; place cut side down in 2 greased 13x9-in. baking pans. Cover and let rise until nearly doubled, 45 minutes.
Bake at 350° for 25-30 minutes or until golden brown. Combine glaze ingredients; drizzle over rolls. Cool in pans on wire racks.