In a mixing bowl, combine warm water and sugar, then sprinkle the yeast on top. Allow it to sit for about 5-10 minutes until it becomes frothy.

Once the yeast is frothy, add the vegetable oil and salt to the mixture. Gradually stir in the flour, one cup at a time, until a soft dough forms.

Transfer the dough to a floured surface and knead for about 5 minutes until it becomes smooth and elastic.

Place the dough in a greased bowl, cover it with a towel, and let it rise in a warm spot for about 1 hour, or until it doubles in size.

In a small bowl, mix the brown sugar and ground cinnamon.

Once the dough has risen, punch it down and roll it out on a floured surface into a rectangle about 1/4 inch thick.

Spread a thin layer of vegetable oil over the rolled dough, then sprinkle the cinnamon-sugar mixture evenly on top.

Starting from one edge, tightly roll the dough into a log shape. Cut the log into 12 equal pieces and place them in a greased baking dish, cut side up.

Cover the rolls with a towel and let them rise for an additional 30 minutes.

Preheat the oven to 350°F (175°C) and bake the rolls for 25-30 minutes or until golden brown.

While the rolls bake, whisk together powdered sugar and vanilla extract with a splash of water to create a smooth icing.

Once baked, drizzle the icing over the warm rolls and serve immediately.