01 - Combine flour, sugar, yeast, and salt in a large mixing bowl.
02 - Whisk together warm milk, melted butter, eggs, and vanilla extract in a separate bowl.
03 - Pour wet ingredients into the dry mixture and mix until a soft dough forms.
04 - Knead the dough on a lightly floured surface for 8–10 minutes, or use a stand mixer with a dough hook for 6–7 minutes, until smooth and elastic.
05 - Place dough in a greased bowl, cover, and let rise in a warm place for 1 hour until doubled in size.
06 - Mix softened butter, sugar, orange zest, and orange juice in a small bowl until combined.
07 - Roll out the dough on a floured surface into a 16x10-inch rectangle.
08 - Spread the orange filling evenly over the rolled dough.
09 - Roll the dough tightly from the long side, pinch the seam to seal, then cut into 12 equal rolls.
10 - Place rolls in a greased 9x13-inch baking dish.
11 - Cover and let rise for 30–40 minutes until puffy.
12 - Preheat oven to 350°F.
13 - Bake for 22–25 minutes until golden brown.
14 - Whisk powdered sugar, orange juice, and zest together while rolls bake.
15 - Let rolls cool for 10 minutes, then drizzle with orange glaze. Serve warm.