In a saucepan over medium heat, add milk & butter. Stir until melted & remove from heat.
In a mixing bowl, combine 2 1/4 c flour, 1/4 c sugar, salt. Add yeast & lukewarm milk mixture. Combine. Add egg.
Using the dough hook attachment on your mixer, knead while gradually adding in up to 1 c flour until the dough forms a ball & pulls aways from the edges of the bowl. You can also knead by hand.
Let dough rest for 10 minutes. Preheat oven to 350 degrees.
On a floured surface, roll out dough into a rectangle. Spread melted butter on top. Paint butter on top with a pastry brush & sprinkle with sugar & orange zest. Using a knife or pizza cutter, cut 10 strips. Roll & place in a baking dish or cast iron skillet.
Turn oven off. Cover rolls with a damp towel & allow to rise 25 minutes. Remove from oven, preheat again to 350 degrees. Cover rolls in 1/4 c heavy cream. Bake 15 minutes, or until slightly golden.
Top with icing & serve.
Butter your baking dish before adding the rolls to it, so that once baked they are easy to remove and won’t stick.
You can bake these rolls ahead of time and keep them covered in the fridge. Gently reheat them in the oven and spread over the frosting before serving.
Leftovers can be stored in an airtight container and kept in the fridge for 3 days. They can be eaten cold or warm them in the oven or microwave.
It's best to use fresh orange juice when you make the glaze fro a really fresh and tangy flavor.