To make the tangzhong, combine both ingredients in a small saucepan, and whisk until there are no lumps. Place over medium heat and cook until thickened. This should only take a couple minutes until a paste-like mixture forms. Remove from heat then transfer to the bowl of your stand mixer.

To make the dough, add all of the ingredients to the mixing bowl. Mix on low speed using the dough hook attachment until smooth and elastic. This will take about 5-10 minutes.

Shape the dough into a ball, grease the bowl, and cover with plastic wrap or a clean kitchen towel. Let the dough rise until puffy, about 90 minutes.

To make the filling, whisk all of the ingredients together in a small bowl until combined, then set aside.

To assemble the rolls, transfer dough to a lightly greased work surface, and press into a 10" x 12" rectangle that's about ½" thick. Sprinkle the filling over the dough and roll into a log.

Score the dough into 8 equal pieces and cut the dough at the score marks. Place the rolls onto a prepared baking sheet, leaving at least 2" between each one and away from the edges. To prevent the rolls from coming undone, tuck the ends underneath the rolls. Cover the rolls with lightly greased plastic wrap and let rise for about 60 minutes.

Preheat the oven to 375°F and position a rack in the top third of the oven. Bake the cinnamon rolls for 15-18 minutes, until light golden brown. Once baked, remove from oven and place on a cooling rack for 15 minutes.

To make the icing, combine powdered sugar with dairy-free milk, and whisk until smooth. Add more liquid to make it a looser consistency. Ice the cinnamon rolls and serve immediately.