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Make Dough: In a large mixing bowl, combine 1 cup lukewarm almond milk, 2½ teaspoons instant dry yeast, ¼ cup sugar, and ⅓ cup canola oil. Stir well and set aside for 1 minute to allow the yeast to activate.
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Add Flour: Add 3⅓ cups all-purpose flour and 1 teaspoon salt to the liquid mixture. Mix with a wooden spoon until a dough ball forms.
Knead: Transfer the dough onto a lightly floured surface and knead for 5 minutes until it is elastic and smooth.
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Proof the Dough: Shape the dough into a ball and place it in a large bowl brushed with oil. Brush the top of the dough with oil as well, then cover it with a damp cloth or plastic wrap leaving space for the dough to rise. Place the bowl in a warm environment, such as an oven warmed for 1 minute then turned off, and let the dough proof for about 1½ hours or until doubled in size.
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Prepare Filling: In a small bowl, mix ¼ cup softened vegan butter, ½ cup brown sugar, and 4 teaspoons cinnamon together using a fork until you get a thick spreadable paste.
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Fold and Roll Dough: After dough has doubled, transfer it back to the floured worktop and fold it over itself 5 times by pulling the edges to the center. Then, using a rolling pin, roll the dough into a 12 by 16 inch (30 x 40 cm) rectangle.
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Spread Filling: Evenly spread the cinnamon filling over the dough, leaving a ¼ inch (½ cm) border around the edges.
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Roll Dough Log: Starting from the short end, roll the dough tightly into a log. Stretch the rolled dough with your hands to about 11 inches (28 cm) in length.
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Cut Rolls: Use a piece of dental floss wrapped around the dough and tightened like a knot to cut approximately 9 rolls, each about 1 inch (3 cm) thick. Alternatively, use a serrated knife for cutting.
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Transfer Rolls: Place each roll into a baking pan that has been brushed with oil or vegan butter.
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Second Proofing: Let the rolls proof a second time in a warm place for 40 minutes until slightly puffed.
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Bake: Preheat the oven to 350°F (180°C). Brush the tops of the rolls with dairy-free milk to help them brown. Bake for 20 to 25 minutes until golden brown.
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Make Glaze and Cool: Remove the cinnamon rolls from the oven and let them cool for 15 minutes. Whisk together ¾ cup powdered sugar, 1½ tablespoons dairy-free milk, and ½ teaspoon vanilla extract until smooth and pourable. Drizzle the glaze over the warm rolls and serve.