In a small bowl, dissolve yeast in warm water and honey. In a large bowl, combine milk, sugar, butter, potatoes, eggs, salt, yeast mixture and 4 cups flour; beat on medium speed until smooth. Stir in enough remaining flour to form a soft dough (dough will be sticky). Turn dough onto a floured surface; knead until smooth and elastic, 6-8 minutes. Place in a greased large bowl, turning once to grease the top. Cover and let rise in a warm place until doubled, about 1 hour. For filling, combine brown sugar, cinnamon, flour and salt. Punch down dough. Turn onto a lightly floured surface; roll into a 24×12-in. rectangle. Spread butter to within 1/2 in. of edges; sprinkle with brown sugar mixture. Roll up jelly-roll style, starting with a long side; pinch seam to seal. Cut into 12 slices. Place in 2 greased 13×9-in. baking pans (6 slices per pan), cut side down. Cover with kitchen towels; let rise in a warm place until doubled, about 30 minutes.
Preheat oven to 350°. Bake until lightly browned, 25-30 minutes, covering loosely with foil during the last 10 minutes of baking. Cool in pan 30 minutes. In a small bowl, mix icing ingredients; drizzle over rolls.