Preheat oven to 350 degrees F.

Add the yogurt and flour to a mixing bowl. Stir together until combined.

Knead dough for about two minutes.

Sprinkle flour onto your work surface and roll out dough until it is about 1/4 inch thick.

Cut dough into a rectangle. You can discard the extra dough.

Melt the butter, then spread over the dough with a pastry brush.

Mix the Splenda and cinnamon together, then sprinkle over the dough.

Roll the dough up and cut it into 10 pieces.

Spray an 8x10 baking pan with no-stick cooking spray and add the 10 cinnamon rolls.

Beat the egg and 1 tablespoon of water. Use the pastry brush to brush the egg wash onto the cinnamon roll dough.

Bake the cinnamon rolls for 25 minutes.

In a small bowl mix together the powdered sugar and milk. Drizzle it over the cinnamon rolls when they are done baking.