Heat the milk, sugar, and oil over low heat just until it is warm.
Stir in the yeast and the flour.
Mix the flour until it forms a ball.
Transfer the dough to a glass bowl and cover.
Let it rise for at least 1 hour.
Meanwhile, mix together filling ingredients with a fork until crumbly.
When the dough is risen, add in 1/4 cup flour and the baking soda and baking powder.
Mix it well. Using your hands works best.
Roll it out into a rectangular shape about 18 x 12 inches.
Smear the filling over the dough.
Roll the dough tightly into a log shape and pinch the ends and sides shut.
Cut 1-1.5 inch slices and place in a greased pie pan. About 7 rolls will fit in a pan.
Bake cinnamon rolls at 375 degrees for 15-17 mins.
Mix frosting ingredients and pour over cinnamon rolls while cooling. Reserve some for later.
Drizzle remaining glaze over the cinnamon rolls when served.