Warm your milk to about 110°F, then combine it with active dry yeast in a small bowl. Let it sit for about 5 minutes until frothy.

In a large mixing bowl, add flour, sugar, and salt. Create a well in the center to add the yeast mixture, melted butter, and eggs.

Gently mix dry ingredients with wet ingredients using a wooden spoon or stand mixer until a shaggy dough forms (2-3 minutes).

Knead the dough on a floured surface for 8-10 minutes until smooth and elastic.

Place kneaded dough in a greased bowl. Cover and let rise in a warm place for about 1 hour or until doubled in size.

Punch down the dough and roll it out into a rectangle (¼ inch thick). Spread melted butter over it and sprinkle with cinnamon and sugar mixture.

Slice the rolled dough into 12 equal pieces and arrange them in a greased baking dish. Preheat the oven to 350°F and bake for 25-30 minutes until golden brown.

Let the rolls cool for about 10 minutes. Prepare icing by whisking powdered sugar, orange juice, and zest until smooth. Drizzle icing over warm rolls.