Stir the chia seeds into the water and set aside to soften.
In large stand mixer bowl, combine the instant yeast with the flours, then stir in the cinnamon, salt and orange zest.
To the dry ingredients add the chia seed gel, egg, maple syrup, vanilla extract, yogurt and oil. Using the paddle attachment, mix thoroughly on low speed. The dough will be soft. Scrape down the sides of the bowl and switch to the dough hook attachment. Knead the dough at medium low for three minutes.
Turn out onto a lightly floured surface and knead by hand for several minutes until very smooth. Place dough in a bowl sprayed with pan spray. Spray the top of the dough to prevent drying. Cover and set aside to rise for 1 to 1-½ hours, until dough has almost doubled in size. Rising time will vary with the temperature of the room.
While dough rises, combine the ¼ cup butter with brown sugar and 1 teaspoon cinnamon for the filling.
When dough has risen, scoop onto lightly floured surface. Lightly deflate and let rest for 10 minutes. Preheat the oven to 375° F. and lightly grease a 9x13-inch baking pan. Roll the dough evenly into an 18”x12” rectangle. Spread with the prepared filling, to within ½-inch of the edges. Sprinkle evenly with walnuts. Roll into a log from the long side. Slice into 18 rolls. Place the rolls in the prepared baking pan. Flatten slightly with fingers and cover loosely with a dry kitchen towel. Set aside to rise for 1 to 1-½ hours, until puffy and light.
Bake in preheated oven for 15-20 minutes. While rolls bake, combine and heat the milk, butter and syrup, just to melt the butter. When browned and fully baked, remove the rolls and immediately brush with the glaze. Remove to cooling rack.