In a large mixing bowl, combine the all-purpose flour, almond flour, granulated sugar, instant yeast, and salt. Mix well.
In a separate bowl, whisk together the warmed milk, melted butter, egg, and vanilla extract until smooth.
Pour the wet ingredients into the dry ingredients and mix until a dough forms. Knead the dough on a floured surface for about 5 minutes until smooth.
Place the dough in a greased bowl, cover with a kitchen towel, and let it rise in a warm place for about 1 hour or until doubled in size.
Preheat your oven to 350°F.
Roll out the dough on a floured surface into a rectangle about 1/4 inch thick.
Spread the almond paste evenly over the dough, then sprinkle with sliced almonds and ground cinnamon.
Starting from one long edge, roll the dough tightly into a log. Slice the log into 12 equal pieces.
Place the rolls in a greased baking dish and let them rise for another 30 minutes.
Bake in the preheated oven for 25-30 minutes or until golden brown.
While the rolls are baking, mix the powdered sugar and milk in a small bowl to create the icing.
Once the rolls are done, drizzle the icing over the warm rolls before serving.