Cook pudding and milk. Add all the margarine minus 2 Tbsp and stir until it is melted. Let cool.
Mix yeast in warm water, add to cooled pudding with salt.
Add flour, one cup at a time, beating after each addition.
Set dough in a warm place and let double in size.
Spread dough on a lightly floured surface and form into a rectangle shape (not TOO thin). Melt two tbls margarine and spread on dough, sprinkle with cinnamon and sugar.
Roll up like a jellyroll and cut into slices about 1-inch thick. Let rise until double in size.
Bake in greased cake pans, with sides just touching, for 20-30 minutes at 350°.
Make glaze by mixing sugar, vanilla and just enough milk to make a thick paste. Spread glaze while rolls are still a bit warm. Make sure the glaze is not too thin or it will melt on the warm rolls.