Warm the milk to about 110°F and combine it with sugar in a bowl. Sprinkle the active dry yeast over the mixture and wait for about 5 minutes until it becomes foamy.

Stir in the melted butter and gradually add all-purpose flour until a soft dough forms. Mix until well combined, adding more flour as needed.

Knead the dough gently for about 5 minutes, then transfer it to an oiled bowl. Cover with a damp cloth and let it rise in a warm place until doubled in size, approximately 1 hour.

Once the dough has risen, roll it out into a rectangle about 1-inch thick. Spread melted butter across the surface, then sprinkle brown sugar, ground cinnamon, and fresh orange zest evenly.

Carefully roll the dough tightly from one end to the other into a log. Slice the log into 12 equal pieces and arrange them in greased baking pans.

Cover the rolls with a cloth and let them rise again for about 30 minutes while preheating your oven to 375°F (190°C).

Place the rolls in the oven and bake for 25 minutes, or until they are golden brown and smell absolutely divine.

While the rolls are baking, whisk together powdered sugar and fresh orange juice to make a smooth icing. Drizzle it over the warm rolls right after they come out of the oven.