Preheat oven to 350.
Directions for dough:
Combine milk and butter in a glass measuring cup (or a microwave-safe bowl.) Microwave for 1 min. Remove and stir. Repeat for 20 seconds, or until butter is melted and milk is warm to the touch. (Not hot!!). Combine flour (3 cups), sugar and salt, in a large mixing bowl.Pour contents of yeast packet into bowl of stand mixer. Add milk mixture, and stir until combined.
Add flour mixture and egg. Using dough hook attachment-begin mixing on low speed until combined-and then medium speed for 1 minute. If dough sticks to the side of bowl-add remaining 1/4 cup of flour. Mix on medium speed for 5 min. Cover dough and let sit for 10 minutes.
Directions for filling:
Combine sugars, cinnamon, and orange zest in a medium bowl. Mix well. Set aside.
Prepare surface for rolling with flour. Lay dough onto floured surface and roll into 15"x10" rectangle. Spread the 1/2 cup butter evenly across the dough. Pour filling on top-spreading evenly.
Beginning at the long end (15') tightly roll dough-pinching ends at the seam to ensure all that sweet goodness doesn't fall out!
Cut rolled dough into 12 cinnamon rolls.
Place rolls into a greased 9x13 pan. Cover rolls and place in a warm location for 25 minutes to rise.
Bake rolls in 350 degree oven for 15-20 minutes-or until golden brown.
Directions for icing:
Combine powdered sugar, butter, orange zest, vanilla, and 1 tablespoon orange juice. Beat until smooth. If icing is to thick for your taste-you can add remaining orange juice. Drizzle icing over warm rolls and enjoy!!!!