In a small bowl with warm milk, dissolve your yeast. In a large bowl, combine sugar, butter, eggs, salt, yeast mixture and 2 cups flour; beat on medium speed until smooth. Stir in enough remaining flour to form a soft dough (dough will still be a little sticky).
Knead dough onto a floured surface about 6-8 minutes, until smooth and elastic. Turn in a greased bowl, to ensure it is all covered. Top bowl with plastic wrap and let rise in a warm place until doubled, about 1 hour.
Mix brown sugar, cinnamon, and bacon in a small bowl, set aside. Punch down and divide dough in half on a lightly floured surface. Roll each portion into an 11x8" rectangle. Brush with one tablespoon melted butter and sprinkle with half of your brown sugar mixture.
Starting with a long side, roll up jelly-roll style and pinch seam to seal. Cut into 8 slices. Repeat steps with remaining dough, butter and sugar mixture. Cut side down, place eight slices in each pan. Cover with kitchen towels let rise in a warm place about 1 hour or until doubled in size.
Bake at 350°F until golden brown (about 20-25 minutes). Cool on wire racks.
For frosting, beat all ingredients until well blended. Spread over warm rolls and top with more chopped bacon pieces. ENJOY!