Stir together warm plant based milk and dry yeast. Set aside for 10 minutes.
Add sugar and salt, stir until they dissolve, and then gradually start adding in the flour. Add it around ½ cup at a time, and stir continuously until all of the flour has been incorporated. Now add the olive oil and continue mixing until thoroughly combined and a dough forms.
Knead the dough for around 5 minutes, then cover with a paper towel or cloth, and set aside for around 20 minutes.
Make the cinnamon roll filling by stirring together cinnamon and sugar in a small mixing bowl.
Preheat the oven to 350 degrees F (180 C).
Transfer the dough onto a large, floured surface and roll it out into a thin rectangular sheet. Make sure that it's even in width throughout.
Sprinkle the filling onto the dough and spread it out using a spoon. Roll the rectangle up tightly, and divide it into around 12 even-sized cinnamon rolls.
Transfer to a round baking dish, cover with a paper towel or cloth, and set aside to rise for 20 minutes more.
Bake the rolls in the preheated oven for 20 minutes.
Make the glaze: add the water to the icing sugar around 1 tbsp at a time, until it reaches the desired consistency.
Allow the cinnamon rolls to cool down for around 10 minutes before adding the icing. Serve and enjoy!
You can keep these vegan cinnamon rolls on the countertop, covered for up to 3 days, or in the fridge in an airtight container for up to a week.
Freeze these cinnamon rolls for up to a month. Allow them to thaw fully in the fridge before warming up in the microwave and serving.