Preparation

• Whisk the warm milk, 2 Tablespoons sugar, and the yeast together in the bowl of a stand mixer. Cover and let sit for about 5 minutes until foamy.
• Add the remaining sugar, butter, orange juice, orange zest, eggs, salt, and 1 cup flour. Beat on medium speed for 1 minute, then scrape down the sides.
• Add 3 more cups of flour and beat on low speed until a soft dough forms. If too sticky, beat in more flour, 1 Tablespoon at a time.
• Knead the dough in the mixer on low speed for 6–8 minutes or by hand on a floured surface. The dough should be soft and slightly tacky.
• Lightly grease a large bowl and place the dough inside, turning to coat. Cover and let rise for 1.5–2 hours until doubled in size.
• Grease a 9×13-inch baking dish. Punch down the dough and roll it out into a 10×16-inch rectangle.
• Spread the softened butter over the dough and mix the filling ingredients. Sprinkle the filling evenly over the butter.
• Roll up the dough tightly to form a log and cut into 12 even rolls. Arrange in the prepared baking dish.
• Cover the rolls tightly and let rise until puffy, about 30–45 minutes. Preheat the oven to 350°F (177°C).
• Bake for 25–28 minutes until lightly browned. Let cool slightly while making the icing.
• Whisk the icing ingredients together and drizzle over the warm rolls. Serve immediately.
• Store leftover rolls at room temperature for up to 2 days or in the refrigerator for up to 5 days.