Preheat oven to 375°F. Line the bottom of a 9 x 13 inch baking pan with parchment paper.
In a large bowl add flour, baking powder, sugar, salt. Whisk until evenly combined.
Add in butter. Using your hands, crumble the butter into the flour until the flour looks like coarse crumbs.
In a small bowl, whisk together yogurt, egg yolks and vanilla. Add wet mixture to the flour bowl. Make sure to use a spatula to scrape your bowl to get all of the yogurt egg mixture because otherwise your dough will be too dry.
Stir wet ingredients into flour until a dough forms. Use your hands to knead the dough a few times until all the ingredients are evenly combined. The dough should only be slightly sticky.
Line your rolling surface with a large sheet of parchment paper (slightly bigger than 12 x 16 inches). Place your dough on top of the parchment paper and roll it out to a 12 x 16 rectangle. If the dough is sticking to your rolling pin, you can lightly flour it. It is okay if your rectangle does not have straight edges, a free form rectangle is fine. You should try to roll slightly beyond the 12 x 16 so that you can trim off the ends later.
In a medium bowl, combine cinnamon sugar ingredients. Mix until a smooth paste forms.
Using a spatula, spread cinnamon sugar across the dough, leaving about 1/2 inch around the edges free. Try your best to spread the filling as evenly as possible across the dough. The filling will start to get dry and harder to spread as you continue working it.
Starting from the long end of the dough, roll it up tightly to form a log. Using a serrated bread knife, first slice off the uneven ends. Then slice log into 12 same-sized rolls (Use a ruler to make them all the same). Wipe your blade after each slice to keep the cuts clean.
Place rolls into prepared baking pan. Bake for about 30 minutes or until rolls are golden brown.
While rolls are cooling, make your icing. Combine cream cheese, butter and powdered sugar into a mixing bowl and mix on high speed until smooth. Add milk, one tablespoon at a time, to thin out icing until it reaches your desired consistency. If you prefer a very thin, glaze-like icing, you can use just half of the icing recipe to yield enough glaze for your rolls. Spread icing over the tops of your rolls after they have cooled.
I used nonfat Greek yogurt but other varieties of greek yogurt should work. Make sure to remove any water/moisture from your yogurt before using.
If your dough is too sticky, you can lightly flour the surface and rolling pin. Be careful not to use too much flour as it will make the dough dry.
The nutrition information provided are only estimates based on an online nutritional calculator. This is not a comprehensive list of all the nutrients in the recipe (i.e., does not include vitamins, cholesterol, etc). I am not a certified nutritionist. Please consult a nutritionist or doctor for accurate information and any dietary restrictions and concerns you may have.