For the dough
1 cup milk, heated to about 95º Fahrenheit
2/3 cup granulated sugar
2 packets instant yeast
½ cup (1 stick) unsalted butter, at room temperature, cut into small pieces
2 large eggs
½ teaspoon salt
4 to 4 ½ cups all-purpose flour, plus additional for dusting
For the filling
¼ cup unsalted butter, at room temperature
½ cup packed dark brown sugar
2 teaspoons ground cinnamon
For the icing
2 cups confectioners sugar
3 tablespoons orange juice
To make the dough, in a large mixing bowl or the bowl of a stand mixer, combine the milk with the yeast and sugar. Let stand for about 10 minutes, until the mixture is foamy.
Add the butter and beat for about 30 seconds. Add the eggs, one at a time, beating after each addition to incorporate. Add the salt and beat briefly to incorporate.
With the mixer running on low speed, add the flour in several batches, beating after each to incorporate. Turn the mixer to medium and continue to beat for a few minutes more until the mixture becomes a soft dough. Raise the speed to medium-high and beat for another 5 to 7 minutes, until the dough is very pliable.
Turn the dough out onto a lightly floured surface and knead it for 1 minute and form it into a ball. Place the dough ball into a bowl that has been lightly coated with oil. Cover loosely with a dishtowel and set it in a warm, draft-free place to rise for 1 to 2 hours until it doubles in size.
Once the dough is finished rising, roll it out on a lightly floured work surface to a 12-by-18-inch rectangle.
Brush a 9-by-13-inch baking dish with butter or spray it with baking spray.
Prepare the filling by melting the butter and then combining the sugar and cinnamon in a separate bowl. Brush the melted butter over the top of the dough and then sprinkle the brown sugar-and-cinnamon mixture over the top.
Starting on one of the long sides, roll the dough up into a tight cylinder. Cut crosswise into 12 pieces, each about 1 ½ inches wide. Arrange the rolls, cut side down, in the prepared baking dish.
Cover, and let rise for another 45 minutes or so.
About 15 minutes before the end of the second rise, preheat the oven to 375º Fahrenheit.
Bake the rolls until they are golden brown, 20 to 25 minutes. Remove from the oven and set the pan on a wire rack. Let cool for about 5 minutes before inverting onto a serving platter.
To make the icing, in a medium bowl, whisk together the confectioners sugar and orange juice and stir until the mixture is smooth.
Drizzle the icing mixture over the rolls while they are still warm.
