Heat the milk, oil, sugar and almond extract in a medium saucepan over medium heat. Do not allow the mixture to boil.
Set aside and allow to cool to 100-110F, sprinkle the yeast on top and allow it to sit for about 2-5 min.
Add 4 cups of the flour, stir until combined, this will make a sticky dough. Cover with a clean kitchen towl and allow to rise in a warm place for one hour.
Remove the towel and add the baking powder, baking soda, salt and remaining ½ cup of flour. Stir thoroughly to combine. Add more flour if the dough is too sticky.

*Use the dough right away, or place in a mixing bowl and refrigerate for up to 3 days, punching down the dough if it rises to the top of the bowl.

Remove the dough from the bowl onto a floured surface, roll the dough into a large rectangle, about 30 x 10 inches.
In a small bowl, combine all filling ingredients until a soft paste is formed.
Using the back a spoon, evenly spread the filling to cover the entire surface of the dough.
Beginning at the end farthest from you, roll the rectangle tightly toward you. Use both hands and work slowly, being careful to keep the roll tight. When you reach the end, pinch the seam together. On a cutting board, using a sharp knife, make 1 ½-inch slices. 15-20 rolls.
Line a few baking dishes with parchment paper (alternatively, grease well with butter or oil). Place the sliced rolls in the pans, being careful not to over crowd.
Preheat oven to 375° F. Cover rolls with a kitchen towel and set aside to rise on the countertop for at least 20 minutes before baking (mine took about an hour to really rise nicely). Remove the towel and bake for 13 to 17 minutes, until golden brown. Don’t let the rolls get overly brown.

Optional Filling:

In a bowl, whisk together the powdered sugar, milk and almond extract until very smooth. The icing should be thick but still pourable. If it is too thin add more sugar 1 tablespoon at a time. If it is too thick, add more milk ¼ teaspoon at a time.
After the rolls are finished baking, and still warm, generously drizzle icing over the top. Be sure to get it all around the edges and over the top. As they sit, the rolls will absorb some of the icing’s moisture and flavor.

Best served warm!