Mix all the dry ingredients (bread flour, instant yeast, sugar, salt) in the bowl of the stand mixer.
Add the greek yogurt.
Start to knead the dough at a low setting (speed 2), and add water. *For this recipe, I used ½ cup water, but more or less water (or flour) may be needed depending on the protein content of the flour, the water content in the yogurt, as well as the humidity and temperature of the kitchen. Be sure to add a few tablespoons at a time so you don't overhydrate the dough. Continue to knead for about 8 to 10 minutes, or until the dough pulls away from the bowl and forms a slightly bumpy, but a stretchy -supple ball.
Remove the finished dough from the mixer bowl and place in a lightly greased bowl.
Let rise until doubled, about 60-90 minutes***
While the dough rises, prepare the filling by mixing the filling ingredients. Set aside.
Punch down the dough then remove from bowl. Place on a generously floured surface and use a rolling pin to flatten the dough into a rectangle, about 18 x 10 inches in size.
Spray, brush or sprinkle water or almond milk onto the surface of the dough. Note: the surface just needs to be wet enough for the sugar mixture to stick. Spread the filling mixture over the dough
Starting from the long end, shape the dough into a roll. Pinch the seams to seal.
Use a string or dental floss to cut the rolled up dough into 12 equal sized individual rolls.
Line a 9" x 12" rectangular pan, or a quarter sheet pan, with parchment paper.
Place the individual rolls on a parchment-lined baking pan, swirl side up, and about half inches apart
Let the rolls rise again for about 30 minutes until puffy. Toward the end of the rise time, preheat the oven to 350F / 180C
Bake the rolls for 15-20 minutes until golden brown
Prepare the glaze by mixing powdered sugar and milk. You can control the consistency of the glaze by adding more powdered sugar for a thicker glaze, and more milk for a thinner glaze.You can also pair these cinnamon rolls with this Greek Yogurt Icing Once cooled enough to handle, glaze the rolls.
Enjoy!