Heat milk in a saucepan or in the microwave (about 40-50 seconds) until warm, but not hot (around 105°–115°F). Stir active yeast into warm almond milk until dissolved. Let stand for 10 minutes.
In a stand mixer with the paddle attachment, add flour, sugar and salt. Mix to combine. With mixer running at low speed, add melted butter 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 about 5 minutes, or until dough is smooth. Increase speed to medium and mix for about 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. Your dough shouldn’t be sticky, but if it is add a little more flour, starting with 1 Tablespoon at a time.
Once combined, place dough in an oiled mixing bowl and cover with plastic wrap. 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 bowl. Grease 13 x 9-inch baking pan or round 9.5-inch pie pan with vegan butter or cooking spray (I used coconut oil cooking spray).
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 vegan butter on the dough with fingers or a knife then sprinkle cinnamon sugar mixture over butter.
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. Using a serrated knife or large sharp knife, 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 in color and cooked through and no longer doughy. I pulled mine at the 22 minute mark.
While cinnamon rolls are cooling make glaze by whisking together almond milk and confectioners’ sugar in a mixing bowl until combined and smooth.
Spread glaze over warm cinnamon rolls and serve.