In a large bowl, whisk together the almond milk, melted butter and sugar. The mixture should be just warm, registering between 100 – 110 degrees F. If it is hotter, allow it to cool slightly.
Sprinkle the yeast evenly over the warm mixture and let set for 1 minute.
Add 5 cups of flour and 1 tsp of salt to the mixture and mix with a wooden spoon until just combined. Cover the bowl with a towel or plastic wrap and set in a warm place to rise for 1 hour.
Preheat oven to 350 degrees F and coat a disposable foil pan with nonstick spray. Set aside.
After 1 hour, the dough should have nearly doubled in size. Add an additional ½ cup of flour, stir well, then turn out onto a well-floured surface.
Knead the dough lightly, adding additional flour as necessary, until the dough just loses its stickiness and does not stick to the surface.
Roll the dough out into a large rectangle, about ½ inch thick. Fix corners to make sure they are sharp and even.
For the filling, spread softened butter evenly over the dough. Mix brown sugar and cinnamon together and sprinkle evenly over top.
Tightly roll up dough, forming a log, and pinch the seam closed. Place, seam-side down. Using a thread, or very sharp serrated knife, cut into even circles, about 1 ½ inches thick. Place the rolls in your prepared foil pan, cover and set in a warm place to rise for 30 minutes.
Meanwhile, prepare the frosting. In a medium bowl, whisk together the powered sugar, almond milk and vanilla until smooth. Set aside.
After 30 minutes, bake cinnamon rolls for 25-30 minutes, until golden brown. While still warm, drizzle evenly with prepared glaze. Enjoy!