Hi Jackie,
I tried to find you recipe also but couldn't. However, I did find this recipe that calls for ice cream in the carmel icing. At least it would give you a topic of discussion at your gathering. Let me know if you try them, they sound good! Enjoy!

CINNAMON ROLLS

DOUGH:
1 cup warm water (110 degrees F)
1 teaspoon instant yeast
3 cups bread flour
1/4 cup white sugar
5 tablespoons butter, softened
3 tablespoons instant powdered milk
1 egg
1 1/2 teaspoons salt
CARMEL TOPPING:
1/3 cup butter
1/2 cup brown sugar
1/2 cup vanilla ice cream
FILLING:
1 tablespoon ground cinnamon
1/2 cup butter, softened (for spreading)
1/2 cup brown sugar

DOUGH:
Place water, egg, bread flour, white sugar, powdered milk, salt, 5 tablespoons butter and yeast in bread machine in the order suggested by the manufacturer. Select DOUGH setting, and turn machine on.

CARAMEL TOPPING:
Meanwhile; in a small saucepan, melt 1/3 cup butter. Add 1/2 cup brown sugar and ice cream; bring to a boil, and cook for 2 minutes.

Pour caramel into the bottom of a lightly greased 9x13 inch pan.

Preheat oven to 350 degrees F (175 degrees C).

When machine has finished cycling remove dough from pan and turn it out onto a lightly floured surface. Pat dough into a rectangle.

TO FILL, SHAPE, AND BAKE ROLLS:
Spread with softened butter and sprinkle lightly with cinnamon. Crumble 1/2 cup brown sugar over the top.

Roll up, and seal edge. Cut into 12 rolls, and place in prepared pan of caramel. Allow to rise until doubled in size, about 45 minutes.

Bake at 350 degrees F (175 degrees C) for approximately 20 to 25 minutes, until golden brown.

Makes 12 rolls (12 servings)
Source: All Recipes
From: Kathy Nowell