Adapted from Betty Crocker's Baking Classics (this recipe dates back to the 1920's when Betty Crocker established a test kitchen)
Sweet Dough (half of this needed for one batch):
1 package active dry yeast (2 1/4 teapoons)mix
1/2 cup warm water (105-115º)
1/2 cup scalded milk, cooled to lukewarm (should be no hotter than 115º)
1/3 cup sugar
1/3 cup butter, at room temperature
1 teaspoon salt
3 1/2-4 cups all purpose flour
Filling and Frosting (double if using all the dough for 2 pans of rolls):
1 cup powdered sugar
2 tablespoons butter, at room temperature
2 teaspoons grated orange peel
1 tablespoon plus 1 teaspoon orange juice
Dissolve yeast in warm water. Stir in milk, sugar, butter, salt, egg and 2 cups flour. Using stand mixer and paddle attachment, mix until smooth. Switch attachment to dough hook and add about 1 1/2 cups more flour. Knead for about 5 minutes, adding up to a 1/2 cup more flour if dough is sticky.
Place dough in greased bowl, then flip over. Cover and let rise in warm place till doubled in size, about 1 1/2 hours. Make filling while dough rises.
To make filling, beat all ingredients till creamy. Set aside.
Punch down dough. Remove half of the dough and roll into a 12 x 7 inch rectangle on lightly floured surface. Spread with half the orange filling (one quarter if you've doubled your batch). Roll up dough tightly, beginning at the wider side. Pinch to seal seam and adjust roll to make even (patting or stretching as needed). Using dental floss (or knife) cut roll into 1 inch slices. Place into greased 8 inch round pan. Cover and let rise till doubled, about 40 minutes.
Preheat oven to 375º.
Bake till golden, about 20-25 minutes. Frost with remaining filling while warm. One batch makes 12 rolls.