Adapted from the blog Get Off Your Butt and Bake
1 cup scalded milk, cooled
3 tablespoons melted butter
1 cup flour plus additional 3 1/2 cups below
3 eggs beaten
1/2 cup sugar
1 tablespoon yeast (proof in 1/3 cup warm water..no hotter than 110º..with 1/2 teaspoon sugar)
3 1/2 cups flour
1 teaspoon salt
6 tablespoons butter at room temperature
1/2 cup sugar
Grated rind of 1 orange
4 cups powdered sugar
1 stick of butter, at room temperature
1/4 cup orange juice
2 tablespoons milk
1 teaspoon of vanilla
In a stand mixer with paddle attachment, mix the above ingredients. Scrape down sides and mix again. Cover with towel and let sit in a warm spot for 2 hours.
After the 2 hours, add 3 1/2 cups flour and 1 teaspoon salt. Use the dough hook and mix till combined. Turn up speed and allow dough hook to knead for a few minutes till dough is becomes a smooth ball. Remove from bowl, grease bowl with butter, and place dough back into bowl. Cover with towel and allow to rise till doubled in size.
Roll dough into a large rectangle about 16 x 24. Combine filling ingredients and spread over dough. Roll up as you would cinnamon rolls, from one long side to the opposite long side. Use dental floss or thread to cut the dough into 12 equal slices. Place in a greased 9 x 13 pan; cover with towel. Let rise till doubled, about an hour.
Preheat oven to 375º. Bake rolls for 25 minutes. Combine frosting ingredients using mixer. Whip till smooth. Allow rolls to cool, then ice.