Preheat the oven to 375°F (190°C) and grease with butter a 10 inch (25cm) round pan.
Prepare the dough. In a large bowl whisk together flour with baking powder, baking soda, salt and sugar.
Add plain yogurt, melted butter and milk and mix to combine. Knead for a few minutes until the dough is smooth and pulls away from the sides of the bowl.
In a small bowl combine filling ingredients, sugar with melted butter and ground cinnamon and set aside until ready to use.
On a floured surface roll the dough into a 12×14 inch (30x35cm) rectangle. Spread butter cinnamon mixture over the top of the rectangle. Roll the dough and cut into 8 equal size rolls. Place the rolls on the prepared pan with distance between them.
Bake the rolls for about 20-25 minutes until lightly browned.
While the rolls are baking prepare cream cheese icing. In a medium bowl mix cream cheese with powdered sugar and vanilla.
Spread the icing over the hot cinnamon rolls. Enjoy!