Warm the milk to about 110°F and combine with yeast and 1 tablespoon sugar. Let it sit until foamy (5–10 minutes).

In a large bowl, mix flour, yeast mixture, 1/4 cup sugar, melted butter, salt, and eggs until a shaggy dough forms. Knead until smooth (8–10 minutes).

Transfer to a greased bowl, cover, and let rise 1 to 1.5 hours until doubled.

Mix softened butter, 1/2 cup sugar, and 1 tablespoon orange zest in a small bowl for the filling.

Roll dough into a 14×9 inch rectangle. Spread filling evenly, then roll and slice into 12 rolls.

Place rolls in a greased 9×13 dish. Let rise again 30–45 minutes.

Bake at 350°F (175°C) for 22–25 minutes until lightly golden.

Make the glaze by whisking powdered sugar, orange juice, and zest. Drizzle over warm rolls.