Step #1
Place water, egg, salt, powdered milk, white sugar, bread flour, 5 tbsps butter & yeast in bread machine in the order suggested by the manufacturer.
Step #2 Select DOUGH setting, & turn machine on.
Step #3 Meanwhile; in a small saucepan, melt 1/3 c butter.
Step #4 Add 1/2 c brown sugar & ice cream; bring to a boil, & cook for 2 mins.
Step #5 Pour caramel into the bottom of a lightly greased 9 x 13 inch pan.
Step #6 Preheat oven to 350 degrees F (175 degrees C).
Step #7 When machine has finished cycling remove dough from pan & turn it out onto a lightly floured surface.
Step #8 Pat dough into a rectangle.
Step #9 Spread with softened butter & sprinkle lightly with cinnamon.
Step #10 Crumble 1/2 c brown sugar over the top.
Step #11 Roll up, & seal edge.
Step #12 Cut into 12 rolls, & place this in prepared pan of caramel.
Step #13 Allow to rise until doubled in size, about 45 mins.
Step #14 Bake at 350 degrees F (175 degrees C) for approximately 20 to 25 mins, until golden brown.