First, set aside 3 tablespoons of butter to soften. Then warm up the milk. (test with finger, it needs to be warm for the yeast, not hot) Place the warm milk in a bowl and mix in 3 tablespoons of sugar. Stir in the yeast and let it sit for 10 minutes, allowing it to activate. The top will get bubbly.
In a stand mixer with a dough hook, add the flour and 3 tablespoons of softened butter. Mix in the yeast mixture until all ingredients are well incorporated, kneading the dough on low speed for about 2 minutes. (Use a large bowl and spoon to mix the dough if you do not have a stand mixer) Knead the dough with your hands for 1 more minute while forming it into a ball.
Once the dough has been kneaded, cover the bowl with plastic wrap or a dish towel and let the dough rise for an hour in a warm place. (in the kitchen or by a window) The dough should double in size.
While the dough is rising, set aside 2 tablespoons of butter to soften. Then take a small bowl and add ¾ cup sugar, 1½ tablespoons of ground cinnamon, and a pinch of salt. Mix together well and set aside.
Then place the dough on a lightly floured board or surface. Flour a rolling pin and your hands and roll out the dough, up and down and side to side. Roll the dough until you have a rectangle of about 15'' x 11''.
Take the 2 tablespoons of softened butter and use a butter knife to gently spread it on the rolled out dough. Then evenly distribute the cinnamon and sugar mixture on top. Use your hands to roll up the dough lengthwise, rolling it tight if you would like more of a swirl. When you get to the end, gently press in the dough to seal it. Seal up both ends of the dough as well.
Use a knife to cut off a little bit of each end of the roll, exposing the inside. Next, use the knife to cut the roll into 12 equal pieces.
Now lightly oil a 9''x 13'' glass baking dish and place all of the cinnamon rolls inside with a little space in between. Cover the rolls and let them rise for a half hour more in a warm place. Meanwhile, preheat the oven to 375°F.
Remove the cover and place the baking dish on the middle oven rack. Bake for 23-25 minutes or until the cinnamon rolls reach an inner temperature of 190-192°F. Remove the pan from the oven and let the cinnamon rolls cool for about 10 minutes before icing them.
While they are cooling, make the icing. Add the powdered sugar, salt, vanilla extract, and almond milk in a bowl and whisk together. Whisk until the icing firms up and becomes smooth. Drizzle the icing on the cinnamon rolls. Serve and enjoy!