01 - In a large mixing bowl, combine flour, sugar, yeast, and salt.
02 - In a separate bowl, whisk together warm milk, melted butter, eggs, and vanilla.
03 - Add wet ingredients to the dry mixture. 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 the dough in a greased bowl, cover, and let rise in a warm place for 1 hour or until doubled in size.
06 - In a small bowl, mix softened butter, sugar, orange zest, and orange juice for the filling.
07 - Roll out the dough on a floured surface into a 16x10-inch rectangle.
08 - Spread the orange filling evenly over the dough.
09 - Roll up the dough tightly from the long side. Pinch the seam to seal.
10 - Cut into 12 equal rolls and place them in a greased 9x13-inch baking dish.
11 - Cover and let rise for 30-40 minutes, or until puffy.
12 - Preheat oven to 350°F.
13 - Bake rolls for 22-25 minutes, or until golden brown.
14 - While rolls bake, whisk powdered sugar, orange juice, and zest for the glaze.
15 - Let rolls cool for 10 minutes, then drizzle with orange glaze. Serve warm.