In a large bowl, or stand mixer bowl if using one, stir flour, sugar, salt and yeast. Add blood orange zest and juice, warm almond milk and margarine. Mix until dough is form.
At medium-low speed, using the dough hook, knead for 6 minutes or until dough is pulling away from the sides of the bowl. When ready, dough will be smooth and tacky to the touch. If kneading by hand, knead for about 10 minutes.
Let it rise in a warm spot for 1 hour and 30 minutes, or until it doubles.
For the filling, stir together the brown sugar and the cinnamon. Set aside.
Line a 9x9 inch baking pan with parchment paper.
Flour lightly the surface you will use to open the dough. Roll the dough into a 14x20 inch rectangle. Open it ¾ inch thick if you prefer less swirls and a fluffier roll, ¼ inch thick if you like lots of swirls and chewier rolls.
Brush the entire surface of the dough with 1 ½ tablespoons of margarine. Evenly spread the filling over the surface of the open dough. Remember to leave a 1 inch margin along the long side to help when sealing the dough closed.
Roll the dough, pinching the edges to seal it shut.
Cut the dough into 1 ½ inches rolls and place each roll into prepared baking pan. Leave enough space between each one to allow them to grow properly - ¼ inch is more than enough.
Cover with a damp towel or plastic wrap and let them rise for 45 minutes. They will look light and puffy.
Preheat the oven to 350° F.
Bake the rolls for 25 minutes, until they’re lightly golden at the top.
Remove from oven and let them cool for 10 minutes before starting the glaze.
Sift the icing sugar and mix with margarine, blood orange juice and zest. Stir until well combined.
Pour the glaze over the rolls immediately. Serve them warm.