Step 1: Preheat the Oven

Preheat your oven to 350°F (175°C) to create the perfect environment for baking your rolls.

Step 2: Prepare the Dough

In a mixing bowl, combine warm milk, sugar, yeast, and let it sit for a few minutes until bubbly. Then, mix in melted butter, egg, and salt. Gradually add flour until a soft dough forms.

Step 3: Knead the Dough

Turn the dough onto a floured surface and knead for about 5 minutes until smooth and elastic.

Step 4: Let the Dough Rise

Place the kneaded dough in a greased bowl, cover it, and let it rise in a warm place until it doubles in size, approximately 1 hour.

Step 5: Roll Out the Dough

After the dough has risen, punch it down and roll it out on a floured surface into a rectangle about 1/4-inch thick.

Step 6: Add Filling

Spread softened butter over the rolled dough, then sprinkle with brown sugar and orange zest evenly.

Step 7: Roll Up the Dough

Starting from the long edge, roll the dough tightly into a log. Pinch the seam to seal the roll.

Step 8: Cut Into Rolls

Cut the log into 12 equal pieces and place them in a greased baking dish, cut sides up.

Step 9: Second Rise

Cover the dish and let the rolls rise again until doubled in size, about 30-40 minutes.

Step 10: Bake the Rolls

Bake for 20-25 minutes until golden brown.

Step 11: Make the Glaze

While the rolls are baking, whisk together powdered sugar and orange juice to make a smooth glaze.

Step 12: Glaze the Rolls

Once the rolls are baked, remove them from the oven and drizzle the glaze over the top while they are still warm.