Combine milk, yeast and sugar in a large bowl; let stand for 10 minutes. Stir in eggs and margarine with a wooden spoon.
Mix salt into flour; add flour to wet mixture one cup at a time until dough forms. Knead until smooth; place dough in a large bowl sprayed with non-stick vegetable spray.Cover; let rest until double in size. Generously spray a surface with non-stick vegetable spray; roll out dough into a 21-inch by 16-inch rectangle.
Spread with butter; combine brown sugar and cinnamon and sprinkle over top.
Roll up dough and slice into 12 rolls; arrange in a lightly greased 13"x9" baking pan. Cover and let rise until nearly double in size, about 30 minutes.
Bake at 400 degrees until golden, about 15 minutes.