In a large bowl, combine the warmed milk, orange juice, melted butter, and sugar.

Sprinkle the yeast over the mixture and let it sit for about 5-10 minutes until it becomes foamy.

Add the eggs, salt, and half of the flour into the yeast mixture, mixing until combined.

Gradually add the remaining flour, kneading until you have a smooth dough.

Place the dough in a greased bowl, cover it with a cloth, and let it rise in a warm place until doubled in size, about 1 hour.

Preheat the oven to 350°F (175°C) and grease a baking dish.

Once the dough has risen, roll it out on a floured surface into a rectangle about 16x12 inches.

Spread the softened butter over the dough, then sprinkle it generously with brown sugar, cinnamon, and orange zest.

Roll the dough tightly from the long edge, pinch it to seal, cut into 12 even rolls, and arrange them in the greased baking dish.

Cover and let rise for another 30 minutes.

Bake in the preheated oven for 25-30 minutes or until golden brown.

While the rolls are baking, prepare the glaze by whisking together powdered sugar and enough orange juice for a drizzling consistency.

Once the rolls are out of the oven, drizzle the glaze over them while they are still warm.