In a large bowl for a stand mixer, combine 3 cups flour, sugar, yeast, and salt.
Turn stand mixer onto low and add in the dairy free milk, orange juice and vanilla extract.
Add in the vegan butter and let go for 5-7 minutes, adding in the remaining flour if needed to not be sticky and form a ball.
Once ball is formed, grease the same bowl mixed in and place the dough ball back into the bowl.
Cover with a towel or plastic wrap and let sit for 60-90 minutes in a warm, draft free place until doubled.
Once doubled in size, pull out the dough and lay it out on a lightly floured surface.
Using a rolling pin, roll dough into an approximately 17×25″ rectangle that is 1/4″ thick.
For the filling - In a bowl, combine the butter, sugar, zest, and vanilla extract.
Spoon the mixture evenly over the dough.
Carefully roll cinnamon rolls into log from the longest side up. One completely rolled, place seam side down. Cut into 12 even sized pieces.
Place into a greased 9x13 baking dish and cover to rise for 45-60 minutes.
Preheat to 350 degrees F.
Once heated, place dish inside and bake in oven for 30-35 minutes.