Combine warm water and yeast in a small bowl. Let sit 5 minutes or until it looks bubbly.
Combine milk, butter and sugar in a microwave safe bowl. Microwave 2 minutes. Stir. Mixture should be warm not HOT. Butter will melt as it sits.
In a large mixing bowl combine 3 cups of flour and salt. Add yeast mixture and milk/butter mixture. Stir.
Add remaining 2 1/2 cups of flour and stir until soft dough forms (a Danish dough whisk or kitchenaid mixer works great for this).
Knead dough on floured surface until smooth and elastic.
Place dough in a greased bowl, cover and allow dough to rise in a warm place for 90 minutes (or until dough has doubled in size).
Punch dough down and divide into 24 balls.
Roll each ball into a rope (about 14" long).
Fold the rope in half and twist twice to create a bunny shape. Press down (pinch) near the base of the ears to keep the dough in place.
Place rolls onto greased baking sheets and let rise 25 minutes.
Bake at 350 degrees for 15-18 minutes or until rolls are golden.
Brush with melted butter and sprinkled with cinnamon and sugar.
Mix frosting ingredients together and whisk until smooth. Add extra milk 1/2 teaspoon at a time until desired consistency is achieved.
Spoon frosting into a plastic baggie and cut the corner. Drizzle over cooled rolls.