In a large bowl, whisk together the almond milk, melted butter, and sugar.
Sprinkle the yeast evenly over the mixture and let set for 1 minute.
Add the flour and salt to the milk 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˚F (180˚C). After 1 hour, the dough should have nearly doubled in size.
Flour a kitchen side and knead the dough lightly, adding more flour if necessary, until the dough loses its stickiness and does not stick to the surface.
Roll the dough into a large rectangle, about ½-inch thick.
Spread the butter onto the dough and then sprinkle on the cinnamon and brown sugar.
Roll up the dough, making a log, and pinch the seam closed. Cut the log in half, then cut into evenly sized pieces. About 1½ inches (8 cm) thick each.
Place the cinnamon rolls in each cake pan, one in the center, six around the sides. Cover with plastic wrap and place in a warm place to rise for 30 minutes.
Remove plastic wrap. Bake the cinnamon rolls in a preheated oven at 350˚F (180˚C) for 25-30 minutes, until golden brown.
When cooled dust with icing sugar.