In a small bowl, combine warm milk with 1 teaspoon sugar and sprinkle yeast on top. Let sit until foamy, about 5-10 minutes.
In a large mixing bowl, whisk together flour, remaining sugar, orange zest, and salt.
In a separate bowl, mix orange juice, melted butter, and egg until well combined.
Add the yeast mixture and wet ingredients to the dry ingredients. Mix until a soft dough forms.
Turn onto a floured surface and knead for 8 minutes until smooth and elastic.
Place dough in a greased bowl, cover, and let rise in a warm place until doubled, about 1 hour.
Meanwhile, mix softened butter, brown sugar, additional orange zest, and cinnamon for the filling.
Punch down the dough and roll into a 12×16-inch rectangle on a floured surface.
Spread filling evenly over dough, leaving a 1/2-inch border along one long edge.
Starting from the opposite long edge, roll the dough tightly into a log. Pinch the seam to seal.
Cut into 12 equal rolls and place in a greased 9×13-inch baking dish.
Cover and let rise until nearly doubled, about 30-45 minutes.
Preheat oven to 375°F (190°C) and bake for 15-18 minutes until golden brown.
While rolls are baking, mix powdered sugar, orange juice, vanilla, and optional cream cheese for the glaze.
Let rolls cool for 5 minutes before drizzling with glaze.
Notes
For extra orange flavor, rub the zest into the sugar with your fingertips before adding to the dough.
These rolls can be prepared the night before and refrigerated after shaping. In the morning, allow them to come to room temperature for 30-45 minutes before baking.
Nutrition facts are estimates and may vary based on ingredients used, portion sizes, and preparation methods.