Warm milk, water, and margarine in saucepan until 120-130°
Combine dry ingredients in a large mixing bowl. Pour the warm liquid over and mix thoroughly, adding more flour until the dough all comes together into a ball. Knead until smooth and elastic.
Smooth Crisco over ball of dough, place back into mixing bowl, cover with a towel, and allow to rise for 20 minutes.
Roll out the dough into a large rectangle (about 12"x18"). Spread margarine or butter over the whole rectangle. Combine the brown sugar and cinnamon, and sprinkle it all over.
Roll up the dough and slice into 2" wide rolls. Place in greased pan, allow to rise 20 minutes. Brush with an egg wash (beaten egg) and bake at 400° for 20-30 minutes, until lightly browned.
Combine the frosting ingredients, and using an electric hand mixer, beat until smooth and creamy. Add the milk a little at a time to create a spreadable consistency. Spoon a dollop over each hot roll and spread it all over the rolls.