In bread machine pan, place the first seven ingredients in order suggested by manufacturer. Select dough setting (check dough after 5 minutes of mixing; add 1 to 2 tablespoons of water or flour if needed). When cycle is completed, turn dough onto a well-floured surface.
Roll into a 21-in. x 16-in. rectangle; brush with butter. Combine the apples, brown sugar, pecans and cinnamon; spoon over dough to within 1/2 in. of edges. Roll up jelly-roll style, starting with a long side; pinch seam to seal. Cut into 1-3/4-in. slices.
Place cut side down in a greased 13-in. x 9-in. baking dish. Cover and let rise until nearly doubled, about 30 minutes. Bake at 325° for 25-30 minutes or until golden brown.
In a small bowl, beat the icing ingredients. Spread over warm rolls. Yield: 12 servings.