Dissolve yeast in warm water in a large mixing bowl; let stand for 5 minutes.

Add warm milk, softened butter, sugar, eggs, and salt to the yeast mixture; mix well.

Add 2 cups of flour and beat until smooth.

Stir in enough of the remaining flour to form a soft dough.

Turn the dough onto a floured surface and knead until smooth and elastic, about 6-8 minutes.

Place the dough in a greased bowl, turning once to grease the top. Cover and let rise in a warm place until doubled, about 1 hour.

Punch the dough down and roll it out to a 15-in. x 10-in. rectangle.

In a separate mixing bowl, beat the almond paste filling ingredients until smooth.

Spread the filling evenly over the dough.

Roll the dough up jelly-roll style, starting with a short side; seal the seams.

Cut the roll into 12 slices.

Place the slices in a greased 13-in. x 9-in. baking pan.

Cover the pan and let the rolls rise in a warm place until doubled, about 30 minutes.

Combine the topping ingredients and sprinkle over the rolls.

Bake at 350°F (175°C) for 35-40 minutes, or until golden brown.

Cool the rolls on a wire rack.

Combine the icing ingredients and drizzle over the cooled rolls.