Prepare the dough by mixing the warm almond milk, melted vegan butter, and maple syrup. Sprinkle the active dry yeast evenly across the top of the mixture, stir gently, and let it sit for about 10 minutes.
Add the flour and mix until a dough forms. If using gluten free flour, add the non dairy yogurt into the dough and use your hands to work it into the dough. This step will make the gluten free dough more elastic and hold together better while rolling. If using regular flour, this step isn't necessary.
Form the dough into a round mound and cover the bowl with plastic wrap or a kitchen towel. Allow it to sit for an hour. I like to sit my bowl on top of a preheated oven. The warmth from the oven helps the dough rise faster. Note, if using gluten free flour, the dough will rise less.
After the dough has risen for an hour place it on a floured surface and roll the dough into a ¼ inch oval or rectangle (add more flour if the dough is too sticky to roll). Note, if using gluten-free flour, the dough will be slightly more dry. Spread the softened butter to cover the dough and then spread the jelly over top.
Roll the dough into a log and cut it into about 10 pinwheels. Place the pinwheels into a baking dish so that they are close but not touching. Cover them with a towel or loose plastic wrap and set aside for another 30 minutes. Note, if your rolls are gluten free, they won't be as voluminous as rolls with gluten in them, but they'll be every bit as delicious!
Preheat the oven to 350.
Remove plastic wrap and bake the rolls in the oven for about 35 minutes.
While the rolls are baking, make the frosting by mixing together the powdered sugar, almond milk, and vanilla. Allow the rolls to cool and drizzle the icing over the rolls. Enjoy!