In a large bowl, combine warm milk, sugar and yeast. Let it sit for 5–10 minutes until foamy. This activates the yeast for a soft dough.

Add melted butter, egg, vanilla and salt to the yeast mixture. Mix well, then gradually add flour. Stir until a soft dough forms.

Place dough on a floured surface. Knead for 5–7 minutes until smooth and elastic. This helps the rolls become fluffy and soft.

Place the dough in a greased bowl. Cover with a towel and let it rise for 20–30 minutes until doubled in size. This makes the dough airy.

In a small bowl, mix brown sugar, cinnamon, melted butter and orange zest. Stir until smooth. This will give the rolls their sweet, citrus flavor.

Roll the dough into a rectangle, about 12x8 inches. Spread the filling evenly over the dough, leaving a small edge free.

Starting at the long edge, roll the dough tightly into a log. Pinch the edges to seal. This creates the swirl for cinnamon and orange inside.

Use a sharp knife to cut the log into 12 equal pieces. Place the rolls cut-side up in a greased baking dish. Leave a small space between each roll.

Cover the rolls and let them rise for 10–15 minutes. This second rise makes them even softer and fluffier after baking.

Preheat oven to 375°F (190°C). Bake the rolls for 18–20 minutes until golden brown on top. Let them cool slightly before glazing.

In a small bowl, whisk powdered sugar, orange juice and vanilla. Adjust consistency if needed. Pour over warm rolls for a sweet citrus finish.

Serve the rolls warm. The glaze will slightly soak in, making them soft and flavorful. Enjoy these rolls with coffee or tea.