01 - In a large mixing bowl, combine flour, sugar, yeast, and salt until evenly blended.
02 - In a separate bowl, whisk together warm milk, melted butter, eggs, and vanilla extract until smooth.
03 - Pour wet ingredients into dry mixture. Stir until a soft, shaggy dough begins to form.
04 - Turn dough onto lightly floured surface and knead for 8-10 minutes, or use stand mixer with dough hook for 6-7 minutes, until smooth and elastic.
05 - Place dough in a greased bowl, cover with plastic wrap or towel, and let rise in warm draft-free area for 1 hour until doubled in size.
06 - While dough rises, mix softened butter, sugar, orange zest, and orange juice in small bowl until creamy and combined.
07 - Punch down risen dough and roll out on floured surface into 16x10-inch rectangle. Spread orange filling evenly over surface, leaving slight border at edges.
08 - Starting from long side, roll dough tightly into log. Pinch seam firmly to seal. Cut into 12 equal slices using sharp knife or dental floss.
09 - Place rolls in greased 9x13-inch baking dish. Cover and let rise 30-40 minutes until puffy and nearly doubled.
10 - Preheat oven to 350°F during final rise period.
11 - Bake rolls for 22-25 minutes until golden brown on top and cooked through. Rotate dish halfway for even baking.
12 - While rolls bake, whisk powdered sugar, orange juice, and zest in small bowl until smooth and pourable.
13 - Let rolls cool in dish for 10 minutes. Drizzle warm orange glaze evenly over rolls. Serve while still warm.