Unbelievable Orange Sweet Rolls

Ingredients

• 2 3/4 cups (344g) all-purpose flour
• 1/4 cup granulated sugar
• 1 teaspoon table salt
• 1 (0.25oz) package (7g) or 2 1/4 teaspoons Platinum Yeast
• 3/4 cup (180ml) whole milk
• 3 tablespoons (40g) unsalted butter
• 1 large egg
• 1 orange ( use 2 tablespoons juice and 1 tablespoon zest)
• 3 tablespoons (45g) unsalted butter (softened to room temperature)
• 1 tablespoon ground cinnamon
• 1/4 cup (50g) granulated sugar
• Remaining zest from the orange (1-2 tablespoons)
• 1 cup (120g) confectioners' sugar
• Remaining juice from the orange (about 2-3 tablespoons)