Combine water, yeast, and sugar in a large mixing bowl of a stand mixer. Let sit for approximately 10 minutes until yeast bubbles.
Add the remaining ingredients; adding flour 1/2 cup at a time until the dough pulls away from the sides of the bowl and is no longer sticky. Knead for 5-10 minutes.
Cover the dough and let rise about 1-1/2 hours or until it doubles in size.
Remove the dough from the bowl and roll into a long rectangle; about 8 inches x 24 inches. Spread butter over the dough. Make sure the dough is softened enough to spread smoothly. In a small bowl mix together the brown sugar and cinnamon. Sprinkle the brown sugar and cinnamon mixture over the butter. Use clean hands to fully spread and incorporate the sugar and cinnamon around the dough.
Roll the dough up lengthwise and cut in 1 1/2 inch slices.
Place slices on a greased pan about 1/2 inch apart. Cover and let rise about 45 minutes until doubled.
Bake at 350 degrees F for 15-20 minutes, or until golden brown.
While the rolls are cooling, make the icing by placing the butter in a large, microwave safe bowl. Microwave for about 1 minute or until melted. Add the powdered sugar and mix together until incorporated, but lumpy. Add water, 1 Tbsp at a time, until it forms a glaze.