Warm 1 cup of milk and combine with 1 packet of active dry yeast. Let sit for 5 minutes until frothy.

In a bowl, whisk together 4 cups of all-purpose flour, 1/2 cup of granulated sugar, and 1 teaspoon of salt.

Gradually add the yeast mixture into the dry ingredients, stirring in 2 eggs and 1/2 cup of melted unsalted butter.

Knead the dough for about 8-10 minutes until smooth and elastic. Ensure it passes the 'windowpane test'.

Place kneaded dough into a greased bowl, cover, and let rise in a warm area for about 1 hour, or until doubled in size.

Punch the risen dough down, roll out into a rectangle approximately 1/4 inch thick.

Spread melted unsalted butter over the surface, sprinkle with cinnamon and sugar, and roll tightly into a log.

Slice the log into 12 equal pieces and place them cut-side up in a greased baking dish.

Bake in a preheated oven at 350°F (175°C) for 25-30 minutes, until golden brown.

Allow rolls to cool slightly, then prepare icing by combining powdered sugar with orange juice and zest.

Drizzle the icing over the warm rolls before serving.