To make Cinnamon Rolls: Preheat oven to 425°F Line baking sheet with parchment paper. Heat milk in saucepan over medium heat, sprinkle with yeast. Set aside.
Combine flours, sugar, baking powder, 1/2 teaspoons cinnamon and salt in bowl. Rub butter into flour mixture with fingers until mixture resembles coarse meal. Stir in milk until soft dough forms. Transfer to well-floured surface and dust with flour. Press into 12x6-inch rectangle.
Combine brown sugar and remaining cinnamon in small bowl. Sprinkle over dough, and press in lightly with palms of hands. Gently roll dough lengthwise into log. Cut log into 16 3/4-inch-thick slices. Place slices on prepared baking sheet, reshaping into rounds if necessary. Bake 15-18 minutes, or until rolls begin to brown.
To make Glaze: Whisk together confectioners' sugar and soy milk. Glaze will be very thick. Bush glaze on cinnamon rolls right out of the oven.