Activate the Yeast:

• Heat soy or almond milk to around 110°F (43°C).
• In a small bowl, combine warm milk and active dry yeast. Let sit for 5-10 minutes until bubbly.

Prepare the Dough:

Using a Bread Maker: Add the activated yeast mixture, soy yogurt, and melted vegan butter. Top with flour and sugar, then select the dough setting.

Using a Mixer: Combine the activated yeast mixture, soy yogurt, and melted butter in a large mixing bowl. Add flour and sugar, and mix on medium speed until dough pulls away from the sides. Transfer to a greased bowl, cover, and let rise for 30 minutes.

Prepare the Filling:

• Mix ground cinnamon and brown sugar in a small bowl.

Roll and Bake:

• Punch down the risen dough and roll it into a rectangle, about ¼ inch thick.
• Spread softened vegan butter on the dough and sprinkle with the cinnamon sugar filling. Roll into a log and slice into equal pieces.
• Place on a parchment-lined baking sheet. Let rise for another 30 minutes while preheating the oven to 375°F (191°C).
• Bake for 20-25 minutes until golden brown.

Prepare the Icing:

• Mix powdered sugar, milk, and vanilla extract until smooth.
• Allow rolls to cool for 5-10 minutes, then drizzle icing on top.