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In a bowl, dissolve yeast in warm milk. In a separate larger bowl, beat together sugar, butter, egg, vanilla, salt, cinnamon, nutmeg, dissolved yeast, and 1 cup of flour. Once combined, slowly add the remaining flour while beating. Dough will be sticky.
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Sprinkle flour onto a counter top and knead the dough for at least 5 minutes. Place in a bowl and cover with plastic wrap. Set in a warm place for about an hour to let it rise.
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Cook bacon per package instructions while the dough rises. Drain on a paper towel and set aside.
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After the dough has risen, roll into an 18×12-inch rectangle.
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Place strips of bacon side by side along the long edge of the dough. Tightly roll up the dough, starting at the long edge. Pinch seems to seal.
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Cut into 12 rolls, making sure to cut including a bacon strip in each roll.
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Place rolls in a greased baking dish. Cover, and let rise in a warm place for about a half hour.
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Preheat over to 400°F. Bake for 20 minutes or until golden brown.
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While baking, mix together the frosting ingredients. Spread over the rolls while warm.
