Milk + Yeast: Warm the milk to 110-115 degrees F in the microwave or on the stove (no more than 120 degrees F, or it could kill the yeast). Then add the maple syrup and stir to combine. Then add the yeast, stir, and set aside for 5 minutes to activate the yeast. After 5 minutes, the mixture should begin frothing. If not, wait an additional 5 minutes. If no frothing occurs, you need to start over because the yeast is bad.
Make the dough: In a large mixing bowl, combine the gluten-free flour, psyllium husk powder, and salt. Whisk to combine. Then add the milk mixture and 6 tablespoons of melted butter. Stir with a spatula or wooden spoon until well combined. Then wait 5 minutes for the dough to solidify.
Knead: On a lightly floured surface with lightly floured hands, knead the dough for about 5 minutes. This adds a little stretch to the dough to help it rise nicely without cracking. When finished, the dough should be soft, smooth, and uniform with a little spring back when poked with a finger. If the dough is too soft, place it in the refrigerator for up to 30 minutes before trying again.
Filling: Using a lightly floured rolling pin, roll the dough into a rectangle that is about 10 inches by 12 inches. Use your fingers or a silicone brush to smooth 3 tablespoons of melted butter across the dough, reaching the edges on all except for one inch on one of the shorter sides. Whisk together the brown sugar and cinnamon before sprinkling it evenly over the butter.
Roll and rise: Cutting along the longer side (so dough strips are 12 inches long), cut 7 strips of dough that are about 1 ½ inches wide. Roll them snugly (but gently) from the sugared edge to the bare edge. Tuck the end of the bare edge underneath the cinnamon roll. Arrange the rolls evenly in an 8 or 9 inch cake pan that has been greased or lined with parchment paper. Cover with a tea towel and leave in a warm place for 1 - 1 ½ hours or until the rolls have double in size.
Bake: Preheat the oven to 325 degrees F. Bake the rolls on a middle oven rack for 35-45 minutes or until the internal temperature of a gluten-free cinnamon roll is between 190 and 200 degrees F. Remove from the oven and allow to cool for 10 minutes.
Frosting: Meanwhile, make the frosting by adding the 4 tablespoons of softened butter, cream cheese or coconut cream, and vanilla extract to a bowl. Mix well with an electric mixer. Then add the powdered sugar 1 cup at a time and mix in. Frost the tops of the cinnamon rolls and enjoy!