In 2-quart saucepan, heat half-and-half, water, butter, granulated sugar and salt over medium heat, stirring occasionally, until butter is melted. Cool until warm (110°F to 115°F). Sprinkle yeast on warm butter mixture; stir to dissolve. Stir in flour and egg until dough forms.
On lightly floured surface, knead dough 5 to 8 minutes or until smooth. Grease large bowl with shortening or spray with cooking spray. Place dough in bowl, turning dough to grease all sides. Cover and let rise in warm place 40 to 45 minutes or until dough has doubled in size.
Meanwhile, in small bowl, mix brown sugar and cinnamon. Grease bottom and sides of 13x9-inch pan with shortening or spray with cooking spray.
On lightly floured surface, roll dough into 16x12-inch rectangle, 1/4 inch thick. Brush 2 tablespoons melted butter over rectangle. Sprinkle with brown sugar-cinnamon mixture. Roll up rectangle, beginning at 16-inch side; pinch edge of dough into roll to seal. Cut into 24 slices. Place slices in pan. Cover and let rise in warm place 40 to 45 minutes or until dough has almost doubled in size.
Heat oven to 350°F. Bake 17 to 27 minutes or until golden brown. Meanwhile, in medium bowl, beat all frosting ingredients with electric mixer on medium speed until well mixed. Spread over warm rolls.