While the dough rests, whisk the brown sugar and cinnamon together for the filling. 8. In a separate small bowl, whisk together 1/4 cup yogurt and vanilla extract.

To make cinnamon rolls: Preheat the oven to 350°F. Use a pastry brush to lightly coat the insides of a small (7-1/2-inch-by-5-1/2-inch) casserole dish with some of the melted butter, about one ...