Stir together the milk and yeast. Set aside until foaming (about 7-10 minutes).
Whisk together the whole wheat flour, all purpose flour, sugar, salt, cinnamon, and baking powder.
Stir the yogurt into the yeast & milk. Pour the wet ingredients into the dry (flour mixture).
Stir until completely combined. It should be slightly sticky but not too much. Add a couple of tablespoons flour if needed.
Sprinkle flour over a work surface and roll out the dough into a large rectangle.
make the filling:
Stir together all of the filling ingredients.
When the dough is rolled out to a rectangle about 14x10 inches, spread the filling mixture all over the dough.
Starting with one of the longer sides of the rectangle, roll the dough into a log. You want it to be longer instead of fatter.
Slice into 12 rolls and arrange in a pie plate that has been sprayed with non stick cooking spray.
Cover loosely with a dish or tea towel and set aside for about 45 minutes (if you want to bake them now) or put in the refrigerator overnight (to bake them in the morning)
When ready to bake, preheat the oven to 350°F. Take the rolls out of the refrigerator.
Bake rolls in preheated oven for 21-24 minutes until done.
Meanwhile, make the icing by whisking together all of the icing ingredients. Spread onto the warm cinnamon rolls, and serve. Enjoy!
Notes
*You can always cut the rolls into smaller sizes and use two pie plates.