Combine yeast, warm milk, melted butter and sugar in a bowl. Whisk until combined.
To a separate bowl, combine flour, baking powder, and salt. Whisk until combined
Combine dry and wet ingredients and knead dough for 10 minutes or until it begins to bounce back when pressed on.
Place in an oiled bowl and allow to rise for an hour.
Roll out the dough into one long strip that is about an inch wide.
To a bowl, combine the ingredients for the cinnamon filling and spread across the dough.
Roll in the dough into a cinnamon roll shape and place in a ramekin and allow to rise once more, for an additional hour.
Bake at 350℉ for 15-18 minutes, or until golden on the outside, and fully cooked on the inside.
In a bowl, combine ingredients for icing and whisk until smooth.
Once removed from the oven and cooled, spread icing on top and enjoy immediately