Warm the almond milk to about 100°F (warm but not hot). Add sugar and yeast. Let sit for 5–10 minutes until frothy.

In a large mixing bowl, combine flour and salt. Pour in the activated yeast mixture, melted butter, and vanilla extract. Mix until a dough forms. Knead for 8–10 minutes until smooth and elastic. Add a bit more flour if sticky.

Place dough in a greased bowl, cover with a towel or plastic wrap, and let rise in a warm place for 1 hour or until doubled in size.

In a small bowl, mix softened butter, brown sugar, and cinnamon until combined.

Punch down the dough and roll it into a 16x12 inch rectangle on a floured surface. Spread the cinnamon filling evenly across the dough.

Tightly roll the dough from the long edge to form a log. Cut into 12 even slices using a sharp knife or unflavored dental floss.

Place the rolls in a greased 9x13 inch baking dish. Cover and let rise for 30–45 minutes, until puffy.

Preheat oven to 350°F (175°C). Bake for 22–25 minutes or until lightly golden.

Whisk together powdered sugar, vanilla, and non-dairy milk until smooth. Adjust milk for desired thickness.

Let rolls cool slightly before drizzling with icing. Serve warm and enjoy!