Place water, egg, bread flour, caster sugar, milk powder, salt, 75g butter and yeast in bread machine in the order suggested by the manufacturer. Select DOUGH setting and turn machine on.
Meanwhile, in a small saucepan, melt 75g butter. Add 70g dark brown soft sugar and ice cream; bring to the boil and cook for 2 minutes. Pour caramel into the bottom of a lightly greased 20x30cm tin.
Preheat oven to 180 C / Gas 4.
When machine has finished cycling, remove dough from pan and turn it out onto a lightly floured surface. Pat dough into a rectangle. Spread with softened butter and sprinkle lightly with cinnamon. Crumble 110g dark brown soft sugar over the top. Roll up and seal edge. Cut into 12 rolls and place in prepared tin of caramel. Allow to rise until doubled in size, about 45 minutes.
Bake at 180 C / Gas 4 for approximately 20 to 25 minutes, until golden brown.