Start by mixing the yeast into the warm soy milk. Leave it to bloom and foam.
Mix together the flour, sugar, and cinnamon. Make a well in the center and fold in the melted butter and milk mixture until just combined.
Cover with a kitchen towel and let it sit for about 10 minutes to rest and allow the ingredients to absorb together.
Using a dough hook, knead the dough for 15 minutes on medium speed.
Stretch the dough up and onto itself and roll it into a smooth ball.
Lightly grease a bowl with additional oil and place the dough ball in it. Cover with a kitchen towel and let it rise for 1 to 1.5 hours until doubled in size.
Punch down the dough. On a floured surface, roll out the dough to a 12-inch by 12-inch square.
In a bowl, mix together the filling ingredients and spread onto the rolled dough.
Roll the dough tightly into a log and cut into 9 pieces.
Place the pieces into a buttered 9-inch square or round pan, spacing them evenly.
Cover and let rise for about 45 minutes.
(Optional) Pour cream over the risen rolls before baking for extra gooeyness. Bake at 350°F for 25-30 minutes.
Whip the frosting ingredients together and spread over the warm cinnamon rolls. Enjoy!