Heat milk to 115°F. Dissolve yeast and 1 teaspoon sugar in warm milk, a llow to proof for 5 minutes.
In the bowl of a stand mixer fit with a dough hook, combine flour, remaining sugar and salt. With mixer running on low, slowly pour in yeast mixture, followed by butter and vanilla. Increase speed, mixing until dough comes together. Transfer to a large greased bowl. Cover and allow to rise in a warm location until doubled in size, roughly 1 hour.
Prepare a 9x13-inch pan with parchment paper.
In a small bowl, combine cinnamon and brown sugar.
On a silicone counter mat, roll dough into a 10x20-inch rectangle. Brush dough with melted butter. Sprinkle with brown sugar-cinnamon mixture, followed by the zest of one orange. Starting at one of the short ends, begin rolling the dough tightly, pinching the ends as you roll. Pinch seams together to seal well. Slice into 6 equal pieces* (see note). Transfer to prepared baking pan. Cover loosely with a clean kitchen towel or plastic wrap. Allow to rise in a warm location for an additional 30-45 minutes, or until doubled in size.
Preheat oven to 350°F.
Bake for 25 minutes or until center reaches 190°F. Allow rolls to cool for 10-15 minutes before icing.
In a medium bowl, beat together powdered sugar and orange juice until desired consistency is reached. Pour or spread glaze over warm rolls.
Store remaining rolls in an airtight container for up to several days.
Notes
Rolls may be cut into 6 or more equal sections.An original recipe from Baked by Rachel
Nutritional information is provided as a courtesy and is an estimate only. Nutrition information can vary for a variety of reasons. For the most accurate data, use your preferred nutrition calculator with the actual ingredients you used to make this recipe.
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