Preheat oven to 375 degrees. Grease two 12-cup muffin pans and set aside.

In the bowl of a stand mixer fitted with a dough hook, combine water, yeast and agave. Stir and let stand for 5 minutes, until nice and foamy.

Add flour and salt to the yeast mixture and knead on low, increasing speed slowly to medium for 5 minutes. Remove dough and allow to rise for 10 minutes on a flat floured surface.

Roll the dough out into a 9x15-inch rectangle and trim as needed to create a perfect rectangle. Spread the dough with Nutella, then sprinkle with ground cinnamon. Tightly roll the long side in, creating a long log, pinching the seam so it has a tight seal.

Using a sharp knife, cut the log into 24 equal pieces. Place each roll in a muffin cup.

Bake 15 to 20 minutes, until cooked through and golden brown.

While the rolls are baking, whisk together the ingredients for the glaze, adding more milk as necessary to reach desired consistency. Drizzle the rolls with the glaze once they are out of the oven. Serve warm.