Dissolve yeast in warm water.
Combine milk, sugar, shortening, salt, egg and 2 cups of flour. Beat until smooth.
Mix in enough remaining flour until dough is easy to handle.
Knead until smooth and elastic. Let rise in warm place until double (1 1/2 hours).
Divide dough in half and roll each half into a 15X9" rectangle.
Spread half of margarine over each rectangle of dough. Sprinkle 1/4 cup sugar and 2 tsp cinnamon over each rectangle of dough.
Roll both rectangles tightly and cut into 9-1 1/2" slices.
Place in greased rectangular pan.
Bake at 375 F for 25-30 minutes.
Mix together glaze ingredients and apread on top of baked rolls. Serve warm.