Combine warm plant-based milk and granulated sugar in a large bowl. Sprinkle yeast on top and let it sit until frothy, about 5-10 minutes.
Add melted vegan butter, salt, and 2 cups flour to the yeast mixture. Mix until dough forms, then gradually add remaining flour until soft and tacky but not sticky.
Shape the dough into a ball, place in a greased bowl, cover, and let rise in a warm spot until doubled in size, about 1 to 1.5 hours.
In a small bowl, mix softened vegan butter, brown sugar, and cinnamon until smooth. Set aside the Biscoff spread separately.
Roll dough into a ¼-inch-thick large rectangle. Spread Biscoff spread evenly over the dough, then top with the cinnamon sugar mixture.
Roll dough tightly from the long edge into a log. Slice into 9 to 12 even rolls.
Place rolls spaced apart in a greased 9×13-inch baking dish. Cover and let rise for another 30-45 minutes.
Preheat oven to 350°F (175°C). Bake rolls for 20-25 minutes until golden brown.
Whisk powdered sugar, plant-based milk, Biscoff spread, and vanilla extract until smooth. Drizzle glaze over slightly cooled rolls.