Place warm water in large, warm bowl. Sprinkle in yeast; stir until dissolved. Add sugar, salt, margarine and 2 cups flour. Stir to make smooth batter. Gradually stir in enough remaining flour to make soft dough. Turn out onto lightly floured surface. Knead until smooth and elastic, about 8 to 10 minutes. Spray dough with cooking spray; cover with bowl; let rise 20 to 30 minutes.* (see notes)

Punch dough down. Divide dough into 2 equal portions. Roll each to 11 × 7-inch rectangle. Roll up tightly from short end; pinch seam and ends to seal. Place, seam side down, in two 7 1/2 × 2 1/2 × 3 1/2-inch loaf pans coated with cooking spray. Cover; let rise in warm, draft-free place until doubled (1/2-inch over top of pan), about 1 hour.

Bake at 375ºF for 35 to 40 minutes, or until done. Remove from pans; cool on wire racks.