In a small saucepan, combine milk and butter, heat until butter is melted, set aside to cool
Once butter/milk mixture is cooled a bit add in yogurt to coll further to about 100 degrees F
Into bowl of stand mixer combine ap flour, sugar, salt, baking soda, and yeast.
Pour in wet ingredients and mix on low speed for 2-3 minutes, then on medium speed for 3 minutes, and finally high for an addition 1 minute. Dough should be shiny, well developed and pass the "windowpane" test.
Let rise in warm place until roughly doubled, about 90-120 minutes.
Shape Cinnamon rolls as shown in video.
Rise in fridge overnight, you can bake right away, they will be less risen and more filling will melt out.
12-36 hours later, bake rolls at 350F tented with foil for 45 minutes
Remove foil and bake 15-20 minutes longer, frost immediately.