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Preheat oven to 350 degrees F. Spray a 9x13-inch baking dish with nonstick cooking spray; set aside.
In a mixing bowl or stand mixer, combine self rising flour and Greek yogurt until a thick dough forms (you can add a few teaspoons of water if dough is too dry). Roll dough out onto a lightly floured surface into a large rectangle (approximately 10"x14").
Spread light butter over the dough and sprinkle on brown sugar replacement and cinnamon.
Roll dough into a log shape and cut into 12 pieces (like you would a cinnamon roll). Cut each roll into 3-4 pieces and place in prepared pan.
Whisk together all egg mixture ingredients and pour into the pan.
Bake, uncovered, for 20-25 minutes, or until the edges are lightly golden brown. Whisk together icing ingredients and pour on top. Serve warm.