In a mixing bowl, combine warm water with instant yeast. Let it sit for about 5 minutes until foamy.

Add in melted unsalted butter, whole milk, sugar, orange zest, and salt. Mix well and gradually incorporate 2 cups of flour.

Transfer dough to a floured surface and knead for 8–10 minutes until smooth and elastic.

Shape into a ball, place in a greased bowl, cover, and let rise for 1 hour until doubled.

Prepare the filling by mixing melted butter with additional sugar, orange juice, and zest.

Roll the dough into a 1/4 inch thick rectangle on a floured surface.

Spread the filling evenly over the rolled-out dough, leaving a small border.

Roll the dough tightly into a log and slice into 1-inch pieces.

Place the rolls in a greased muffin pan, cover, and let rise for 30–45 minutes.

Preheat the oven to 350°F. Bake the rolls for 15–20 minutes until golden brown.

Prepare the glaze by whisking powdered sugar and orange juice, and drizzle over warm rolls.