Creating these orange breakfast rolls is a rewarding process. Follow these step-by-step instructions to ensure perfect rolls every time.

Preparing the Dough:

1. Activate the Yeast: In a small bowl, combine the warm milk and yeast. Let it sit for about 5 minutes until it becomes frothy.
2. Mix the Dry Ingredients: In a large mixing bowl, combine the flour, sugar, and salt.
3. Combine Wet Ingredients: Add the melted butter, egg, and orange zest to the yeast mixture. Stir until well combined.
4. Form the Dough: Pour the wet ingredients into the dry ingredients. Mix until a soft dough forms.
5. Knead the Dough: Turn the dough onto a floured surface and knead for about 8-10 minutes until it becomes smooth and elastic.
6. First Rise: Place the dough in a greased bowl, cover with a damp cloth, and let it rise in a warm place for about 1-2 hours, or until doubled in size.

Preparing the Filling:

7. Mix the Filling: In a small bowl, combine the softened butter, brown sugar, and orange zest until well blended.

Assembling the Rolls:

8. Roll Out the Dough: Once the dough has risen, punch it down and roll it out into a rectangle approximately 16×12 inches.
9. Spread the Filling: Evenly spread the orange filling over the dough rectangle.
10. Form the Rolls: Starting from the longer side, tightly roll up the dough into a log. Cut the log into 12 equal pieces.
11. Second Rise: Place the rolls in a greased baking pan, cover, and let them rise again for about 30-45 minutes.

Baking the Rolls:

12. Preheat the Oven: Preheat your oven to 350°F (175°C).
13. Bake: Bake the rolls in the preheated oven for 20-25 minutes or until golden brown.

Preparing the Citrus Glaze:

14. Mix the Glaze: In a small bowl, whisk together the powdered sugar, orange juice, and vanilla extract until smooth.

Finishing Touches:

15. Glaze the Rolls: Once the rolls are out of the oven and slightly cooled, drizzle the citrus glaze generously over them.