Grease 13x9-inch glass baking dish with vegetable shortening.
For the dough- In a small bowl, combine the yeast, sugar and hot water, stirring to mix. Set aside for 10 minutes, until foamy.
In a large measuring cup, whisk together the agave nectar, canola oil, orange juice, remaining 1/2 c. water, and orange zest and set aside.
In the bowl of a stand mixer fitted with the paddle, combine the flour, soymilk powder, and salt. Beat on low until mixed. Add the reserved yeast and agave mixture to the flour, and beat until the dough forms into a ball. Switch the paddle with a dough hook, and let the machine need the dough for about 3 to 5 minutes, or until the dough looks silky. The dough should be soft and smooth, not sticky. If dough is sticky, add more flour, one Tbl. at a time.
Place the dough in a large oiled bowl, covering with plastic wrap. Let the dough rise until doubled, about 1 hour.
On a lightly floured surface, roll the dough into a rectangle, about 16x12 inches.
For the filling- Spread the softened margarine over the dough, leaving a 1/2-inch border on all sides. Sprinkle the brown sugar over the margarine. Sprinkle the cinnamon over the brown sugar. Starting with the long edge, roll the dough up into a spiral, jelly-roll style. Pinch the edges together to seal. Carefully cut the roll into 12 equal pieces. Place the rolls into the prepared baking dish. Cover with plastic wrap and let rise for 30 minutes.
Preheat oven to 350F.
Remove plastic wrap and bake the rolls for 30 to 35 minutes, or until firm to the touch and lightly golden. Remove baking dish from oven and set aside on a rack to cool slightly.
For the glaze- While the rolls are cooling, whisk the confectioners sugar and orange juice in a medium bowl, until smooth. Drizzle the glaze over the warm rolls and serve.
Note- If you can find soymilk powder, it works really well in bread dough to give it a soft texture. Look for the Better Than Milk brand in health food stores and online.
Variation- To make this dough in the food processor, combine the flour, soymilk powder, and salt in the work bowl, fitted with the metal blade. Pulse the flour until mixed. Add the reserved yeast and agave mixture to the flour, and process until the dough forms a ball. Pulse the dough another 4 to 5 times, until the dough looks silky.
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