Preheat oven to 350 degrees. Place all dough ingredients in bread machine in order given. Set on "Dough" setting and turn on machine.
Make caramel: Melt 1 stick of margarine and add 1 cup of brown sugar and 1 cup of vanilla ice cream in a saucepan. Bring to a boil and boil for a couple of minutes. Remove from stove and set aside.
When machine has finished cycling, remove dough from pan, place on lightly floured surface. Pat dough into a rectangle, spread with 2 tbsp butter and sprinkle lightly with cinnamon. Crumble about 1/2 cup brown sugar all over. Roll up dough and place loaf into lightly greased loaf pan.
Let them raise until doubled, about 45 minutes or so. Bake for approximately 20 to 25 minutes. Remove bread from oven and pour caramel over bread. Bake additional 20 to 25 minutes, or until golden brown.
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