In a bowl, warm the milk until it's warm but not hot (about 110°F). Add the sugar and yeast. Let it sit for about 5-10 minutes, or until it becomes frothy.

In a large mixing bowl, combine the flour and salt. Make a well in the center, then add the melted butter, eggs, yeast mixture, orange zest, and orange juice. Stir until the mixture begins to form a dough.

Transfer the dough to a floured surface and knead for about 5-7 minutes, until it’s smooth and elastic.

Place the kneaded dough in a greased bowl, cover it with a clean kitchen towel, and let it rise in a warm place until it doubles in size—about 1 hour.

Once the dough has risen, punch it down to release the air. Roll it out into a large rectangle (about 12x18 inches) on a floured surface.

Starting from the long side, roll the dough tightly into a log. Cut the log into 12 equal pieces and place them in a greased baking dish.

Cover the dish with a towel and let the rolls rise again for another 30 minutes.

Preheat your oven to 350°F (175°C). Bake the rolls for 25-30 minutes, or until golden brown.

While the rolls are baking, whisk together the powdered sugar, 1 tablespoon of orange juice, and 1 tablespoon of milk in a small bowl. Once the rolls are out of the oven, drizzle the glaze over them while they are still warm.