Whisk the yeast, 1 teaspoon of sugar, and warm water together in a mixing bowl.
Let the mixture sit for 10 minutes to proof the yeast.
After 10 minutes, the yeast should be foamy and bubbly.
Now, whisk in the oil, milk, 1⁄2 cup sugar, and vanilla.
Add the flour, salt, and baking soda and stir to combine.
On a floured surface, pat the dough into a rough rectangle about 1⁄2 inch (1.25 cm) thick.
Brush it with oil and sprinkle it with brown sugar and cinnamon.
Roll up the dough from one end, slice in to 1-inch rolls, and place the rolls into a greased baking dish.
Rise for 1 hour. Homesteading Hack – To create the ideal warm environment for the dough to rise, preheat your oven to 200°F (93°C) and then turn it off. Place the covered pan of cinnamon rolls inside the oven.
Brush the top with oil or butter just before baking.
Bake at 350° F (176° C) for 20 minutes.
Remove rolls from the oven and cool slightly before icing.