1. Preheat the oven to 350°F and lightly grease an 8-inch square baking dish.

2. In a large bowl, whisk together the flour, baking powder, baking soda, and salt.

3. In another bowl, stir together the fat-free Greek yogurt, milk, granulated sugar, melted butter, and vanilla extract until smooth.

4. Add the wet mixture to the dry ingredients and stir until a soft dough forms.

5. Turn the dough onto a lightly floured surface and knead gently for about 1 minute.

6. Roll the dough into a 10 x 12-inch rectangle.

7. Brush the dough with melted butter.

8. In a small bowl, mix the brown sugar, cinnamon, and pinch of salt, then sprinkle it evenly over the dough.

9. Roll the dough tightly into a log and slice into 8 even rolls.

10. Arrange the rolls in the prepared baking dish.

11. Bake for 22 to 26 minutes, until lightly golden and cooked through.

12. Let the rolls cool for 10 minutes.

13. Whisk together the powdered sugar, milk, and vanilla extract for the glaze.

14. Drizzle the glaze over the warm rolls and serve.