Heat milk in the microwave to between 90-110F in a glass measuring cup. Stir in cane sugar and instant yeast. Allow the yeast to activate for 8 minutes.
In the meantime, whisk together gluten-free flour, erythritol, baking powder and sea salt in a large bowl or bowl of a stand-mixer.
Add melted butter, vanilla extract, egg and the yeast mixture. Mix on low speed for 2-3 minutes.
Cover with a clean damp towel or plastic wrap and place the bowl in a warm area for 1 hour to rise.
Use a spatula to transfer dough to a lightly greased large piece of parchment paper.
Lightly grease hands and press dough gently to create a 10x13 rectangle. Brush the dough with melted butter leaving edges unbuttered.
Stir together erythritol sweetener, cinnamon and Pique Cinnamon Fasting Tea. Sprinkle over butter on dough. Begin rolling the dough using the parchment paper to lift until you have a long log. Grease a sharp knife and slice dough into 12 rolls.
Place rolls in a 9x13 baking pan lined with a lightly greased sheet of parchment paper. Cover once again with a clean kitchen towel and rise for 30 minutes in a warm spot.
Bake cinnamon rolls at 350F for 20-22 minutes. Cool cinnamon rolls at room temperature for 10 minutes.
While cinnamon rolls cool, beat together ingredients for cream cheese frosting in a medium bowl.
Spread dollops of icing onto warm cinnamon rolls and serve right away.