Activate the yeast: In a large bowl, stir the warm milk and sugar. Sprinkle the yeast over the top and let it sit for 5–10 minutes until foamy. If it doesn’t foam, your yeast may be inactive or the milk too hot or cold.

Make the dough: Whisk in the egg, egg yolk, and melted butter. Add the flour, salt, and orange zest. Mix with a wooden spoon until a shaggy dough forms.

Knead: Turn the dough onto a lightly floured surface and knead for 6–8 minutes until smooth and elastic. You can also use a stand mixer with a dough hook for 5–6 minutes on medium-low. The dough should be soft and slightly tacky, not sticky.

First rise: Place the dough in a lightly greased bowl, cover with plastic wrap or a damp towel, and let rise in a warm place until doubled, about 1–1.5 hours.

Prepare the filling: In a small bowl, combine the soft butter, sugar, orange zest, cinnamon (if using), and vanilla. Mix into a spreadable paste.

Roll it out: Punch down the dough and roll it into a 14x18-inch rectangle on a lightly floured surface. Spread the filling evenly, leaving a small 1/2-inch border on one long edge.

Shape the rolls: Starting from the opposite long side, roll the dough into a tight log. Pinch the seam to seal. Trim the ends if uneven, then slice into 12 equal rolls using dental floss or a sharp knife.

Second rise: Arrange the rolls in a greased 9x13-inch baking pan, leaving a little space between each. Cover and let rise until puffy, 30–45 minutes. They should almost touch.

Bake: Preheat the oven to 350°F (175°C). Bake the rolls for 22–26 minutes, until lightly golden and set in the center. If browning too fast, tent with foil during the last few minutes.

Make the glaze: Whisk powdered sugar, orange juice, cream or milk, vanilla, and a pinch of salt until smooth and pourable. Adjust with more juice or sugar as needed.

Glaze and serve: Cool the rolls for 10 minutes, then drizzle generously with glaze. Sprinkle extra zest on top if you like. Serve warm.