In a mixing bowl, combine warm almond milk, yeast, and honey. Let sit for 5 minutes.
Add whole wheat flour and salt to the yeast mixture and mix until a dough forms.
Knead the dough for about 5 minutes, then place in a greased bowl, cover, and let rise for 1 hour.
Roll out the dough into a rectangle and brush with melted coconut oil.
Mix coconut sugar and cinnamon, then sprinkle over the dough.
Roll the dough tightly, slice into 12 rolls, and place in a greased baking dish.
Cover and let rest for 30 minutes, then bake at 350°F (175°C) for 25 minutes.
Mix Greek yogurt, maple syrup, and vanilla extract to make the glaze, then drizzle over warm cinnamon rolls.
Notes
For a dairy-free option, use coconut yogurt for the glaze. These cinnamon rolls are best enjoyed fresh but can be stored in an airtight container for up to 3 days.