1. In a mixing bowl, combine 1 cup of flour, yeast, and sugar.
2. Add warm milk, melted butter, and beaten egg. Mix well.
3. Gradually add the remaining flour to form a soft dough.
4. Knead the dough on a floured surface for about 5 minutes.
5. Place the dough in a greased bowl, cover, and let rise until doubled, about 1 hour.
6. Roll out the dough into a rectangle. Spread softened butter over the dough.
7. Sprinkle brown sugar and cinnamon evenly over the buttered dough.
8. Roll up the dough tightly and cut into 12 rolls.
9. Place the rolls in a greased baking dish. Cover and let rise for another 30 minutes.
10. Preheat oven to 375°F (190°C). Bake rolls for 20-25 minutes or until golden brown.
11. In a small bowl, mix powdered sugar, orange juice, and orange zest to make the glaze.
12. Drizzle the glaze over the warm rolls before serving.