Heat milk in a saucepan or in the microwave (about 40-50 seconds) until warm, but not hot. Around (105°–115°F). Stir yeast into warm almond milk until dissolved. Let stand 10 minutes.
In a stand mixer with the paddle attachment, add flour, salt and sugar. Mix to combine. With mixer running at low speed, add melted butter, egg and yeast mixture. Increase speed to medium-low, and mix 2 minutes until dough starts to form.
Switch to the dough hook attachment and knead the dough in the stand mixer at medium-low speed for 5 minutes, or until dough is smooth. Increase speed to medium and mix 2 minutes. Kneading is done when dough makes a slapping sound as it hits the side of the bowl. Dough temperature should be close to 90°F. If dough is too sticky add a little more flour.
Once combined, place dough in oiled mixing bowl and cover with plastic wrap and a warm towel. Let rise 1-2 hours, or until doubled in volume. Time will depend on how warm your house is.
While dough is rising, make cinnamon sugar filling by stirring together brown sugar and cinnamon in a small bowl. Grease 13 x 9-inch baking pan or round 9.5-inch pie pan with butter.
Once dough has doubled in size, sprinkle extra flour on your surface and rolling pin and roll dough into 14 x 12-inch rectangle.
Spread softened butter onto dough with your fingers or a knife.
Sprinkle cinnamon sugar mixture over butter and press down slightly with your hands.
Starting at the top, roll the dough toward you into a large log, moving back and forth down the line of dough (in a “typewriter” motion) and always rolling toward you. Roll it tightly as you go so the rolls will be nice and neat. When it’s all rolled, pinch the seam closed and turn the roll over so that the seam is facing down. Cut roll crosswise into 12 1-inch-thick pieces and place on prepared baking pan.
Cover, and let rise in warm place 45 minutes, or until doubled in size.
Preheat oven to 350°F. Bake cinnamon rolls for 20-25 minutes, or until golden brown, cooked through and no longer doughy. I baked mine for 22 minutes.
While cinnamon rolls are cooling, make cream cheese frosting by adding cream cheese, greek yogurt, maple syrup and vanilla to a large mixing bowl. Using a hand mixer on medium speed, whip all the ingredients together until smooth and fluffy, scraping down the sides as needed. Alternatively, you can use a stand mixer.
Spread frosting over warm cinnamon rolls and serve.