Preheat the oven to 400°F (200°C), then butter a 6-inch round cake pan or oven-safe dish. Set aside.
For the Cinnamon Roll Filling: In a small bowl, combine the melted butter, brown sugar, and cinnamon. Set aside in the fridge while making the dough.
For the No-Yeast Cinnamon Roll Dough: To make the dough combine the flour, sugar, baking powder, and salt. Next, add in the cold cubed butter and rub it in using a pastry blender or your fingertips until you've reached the texture of coarse breadcrumbs.
In a separate jug combine the yogurt, egg, and vanilla.
Add the majority of the wet ingredients into the dry then gently stir until just combined. Add the remaining liquid if you need it.
Once the dough has come together into a smooth ball, turn it out onto a floured work surface.
Using a lightly floured rolling pin, roll the dough into a roughly 20 x 4-inch rectangle.
Spread the cinnamon filling as evenly as possible over the dough all the way to the edge.
Beginning from the long side, roll the dough into a log before placing it in your baking pan.
Bake rolls for 30-35 minutes or until golden brown.
Cream Cheese Glaze: While the cinnamon roll is baking make your glaze: In a small bowl combine the softened cream cheese, butter, sugar, and vanilla. Whisk together until smooth then set aside.
Once the cinnamon roll is done remove from the oven and allow to cool for 15 minutes before spooning over the glaze. Enjoy straight away! Store leftovers in an airtight container at room temperature for 2 days.