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

2. Add the remaining granulated sugar, eggs, 1/4 cup softened butter, and salt. Mix well.

3. Add the flour gradually and knead until a smooth, soft dough forms, about 8 minutes.

4. Place the dough in a greased bowl, cover, and let it rise in a warm place for 1 to 1 1/2 hours or until doubled in size.

5. In a small bowl, mix 1/4 cup softened butter, brown sugar, and 1 tablespoon orange zest.

6. Roll the dough into a 16 x 12 inch rectangle on a lightly floured surface. Spread the orange filling evenly over the dough.

7. Roll the dough tightly into a log from the long side and slice into 12 equal rolls.

8. Arrange the rolls in a greased 9 x 13 inch baking dish. Cover and let rise again for 30 to 45 minutes until puffy.

9. Bake at 350°F for 22 to 26 minutes, or until lightly golden on top.

10. Whisk together powdered sugar, orange juice, vanilla extract, and remaining 1 tablespoon orange zest until smooth.

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