1. In a large bowl, stir together the warm milk, yeast, and 1 tablespoon of the sugar. Let the mixture sit for 5 to 10 minutes until foamy.

2. Add the remaining sugar, melted butter, eggs, salt, and 3 1/2 cups flour. Mix until a soft dough forms.

3. Knead the dough for 8 to 10 minutes, adding a little more flour only if needed, until smooth and elastic.

4. Place the dough in a greased bowl, cover, and let it rise in a warm place for about 1 hour or until doubled in size.

5. In a small bowl, mix the softened butter, brown sugar, orange zest, and cinnamon until well combined.

6. Roll the dough into a rectangle about 16 x 12 inches on a lightly floured surface.

7. Spread the orange filling evenly over the dough.

8. Roll the dough up tightly from the long side into a log.

9. Slice into 12 even rolls and place them in a greased 9 x 13-inch baking dish.

10. Cover and let the rolls rise again for 30 to 45 minutes until puffy.

11. Bake at 350°F for 22 to 26 minutes, until lightly golden on top and cooked through.

12. Whisk together the powdered sugar, orange juice, orange zest, and vanilla extract until smooth.

13. Spread or drizzle the glaze over the warm rolls before serving.