Warm milk to 110°F, stir in yeast and a pinch of sugar, then let sit until foamy, about 5 minutes.

In a mixing bowl, whisk flour, sugar, and salt, then add melted butter, eggs, and yeast mixture. Stir until the dough just comes together, about 2 minutes.

Turn dough onto a floured surface and knead for 5–7 minutes until smooth and elastic with a soft, slightly tacky texture.

Place dough in a greased bowl, cover loosely, and let rise in a warm spot until doubled, about 1–1.5 hours.

On a floured surface, roll dough into a 12×18-inch rectangle. Spread softened butter evenly, then sprinkle brown sugar, cinnamon, orange zest, and vanilla.

Tightly roll the dough from the long edge into a log. Cut into 12 even pieces using a sharp knife or dental floss.

Arrange rolls in a buttered 9-inch pan, spacing them lightly apart. Cover and let rest until puffy, about 30–45 minutes.

Preheat oven to 350°F. Bake rolls for 20–25 minutes or until golden brown and cooked through.

While baking, whisk powdered sugar, milk, and vanilla until smooth. Adjust milk for a pourable consistency.

Drizzle glaze over warm rolls, allowing it to seep into each swirl. Serve immediately for best texture.