Activate Yeast: In a large bowl, heat almond milk and butter in the microwave in 30 second intervals until butter is melted and mixture is warm to the touch (not hot). Add yeast and sugar, then allow it to sit for 5 minutes. Mixture should be frothy and bubbly.* Stir in salt and orange zest.
Knead: Stir 2 cups of flour into the mixture, then add more flour, a heaping tablespoon at a time, until dough forms a loose ball. Transfer dough to a clean, floured surface and knead for about a minute, until you have a smooth ball. (Aim to add as little extra flour as possible, using a pastry scraper to help knead the moist dough if necessary.) Place in a warm spot in the kitchen to rise until doubled in volume, about an hour.
Filling: Meanwhile, blitz cranberries and sugar in the food processor until cranberries are roughly broken down. Pour out any excess juices.
Assemble: On a floured sheet o parchment paper, roll dough into a thin rectangle, about 10 x 14 inches (25 x 35 cm). Spread cranberry mixture evenly over dough.
Roll: Gently and tightly roll the dough from the widest edge of the rectangle (it's easiest to simply lift the parchment paper to roll the dough into an even cylinder). If needed, seal the seam with a touch of water.
Cut: To cut the rolls, a string of floss works best. Work a string of floss under the rolls. Cross your hands in opposite directions over the roll to make a clean cut. Each should be about 1 inch wide.
Second Rise: Place rolls in a greased or parchment-lined baking tin***. Create a dome over the pan with aluminum foil, then allow rolls to rise for 30 minutes while oven preheats to 350°F (176°C).
Bake: Bake, still covered with the foil dome, for 20 minutes. Remove foil and continue baking for 10 minutes, until rolls are golden brown on top.
Icing: Whisk together all icing ingredients. Pour or spread over hot cinnamon rolls.
*If there is no frothing, the yeast might be dead. Try again with a new packet of yeast!**For a faster rise, I like to heat my oven just until it's warm, then turn it off and set dough inside. ***At this point you can refrigerate overnight. In the morning, set them out for 30 minutes then bake according to instructions.