Heat the dairy-free milk, butter, sugar, and cinnamon in a small saucepan or microwave until warm (not hot or boiling!). Stir until the butter is fully melted and the sugar dissolved.
Mix all-purpose flour, instant yeast, and salt in the bowl of a stand mixer. Pour in the milk-butter-sugar mixture and knead for 5 minutes (with the dough hook attached) on low to medium speed until you have a smooth dough.
Grease a large bowl with one teaspoon olive oil, place the dough in it, cover with a damp kitchen towel, and let it rise in a warm place for 1-2 hours until doubled in size.
Filling
Roughly chop and toast the pecans in a skillet over medium heat until golden brown and fragrant. In a small bowl, mix brown sugar, cinnamon, and nutmeg.
Line a round 9-inch cake or springform pan with parchment paper.
Place the dough on a floured surface and roll it into a rectangle (~8x12 inches | 20x30cm).
Evenly spread the dairy-free butter over the dough, leaving a ½-inch border on the long sides. Sprinkle with the sugar mixture, then with the pecans.
Roll it lengthwise into a tight log and cut into 8 equal pieces. Transfer into the prepared cake pan, cover with a damp tea towel, and let it rise for another 45 minutes.
Preheat the oven to 355°F (180°C).
Bake for 20-25 minutes. Remove from the oven and let it cool slightly!
Glace (optional)
Whisk powdered sugar and dairy-free milk in a small bowl and drizzle over the warm cinnamon rolls.
Notes
Keeps fresh: Store leftovers in a sealed container at room temperature and eat within two days. Reheat in the microwave for warm cinnamon rolls.Freeze: It’s best to freeze the freshly baked cinnamon rolls once cool in a freezer bag for up to 3 months. Reheat: Place frozen in the cold oven and bake for 15 minutes at 355°F (180°C).Pecans: Can be substituted with other nuts of your choice. Nut Allergy? Skip the pecans!This recipe is inspired by "Our Favorite Cinnamon Rolls" recipe by Epicurious.