1. Warm the milk until slightly warm and stir in a small amount of sugar. Sprinkle the yeast over the top and let it sit until foamy.

2. In a large bowl, combine the flour, remaining sugar, and salt. Add the yeast mixture, eggs, butter, and orange zest.

3. Mix until a dough forms, then knead until smooth and elastic.

4. Place the dough in a greased bowl, cover, and let rise until doubled in size.

5. In another bowl, combine softened butter, brown sugar, cinnamon, orange zest, and orange juice to create the filling.

6. Roll the dough into a large rectangle on a lightly floured surface.

7. Spread the orange filling evenly over the dough.

8. Roll the dough tightly into a log and slice into equal rolls.

9. Arrange the rolls in a greased baking dish and allow them to rise again until puffy.

10. Bake in a preheated oven at 350°F until lightly golden and fully cooked.

11. Whisk together powdered sugar, orange juice, vanilla extract, and additional orange zest for the glaze.

12. Pour the glaze over the warm rolls and serve immediately.