1. In a mixing bowl, dissolve yeast in warm water with a pinch of sugar. Let it sit for 5 minutes until frothy.
2. Add the remaining sugar, milk, melted butter, salt, egg, and 1 cup of flour. Beat until smooth. Stir in enough remaining flour to form a soft dough.
3. Turn onto a floured surface; knead until smooth and elastic, about 6-8 minutes. Place in a greased bowl, turning once to grease the top. Cover and let rise in a warm place until doubled, about 1 hour.
4. Punch dough down. Turn onto a lightly floured surface; roll into a 15x10-in. rectangle. Spread marmalade over dough to within ½ in. of edges. Sprinkle with brown sugar and softened butter.
5. Roll up jelly-roll style, starting with a long side; pinch seam to seal. Cut into 12 slices. Place cut side down in a greased 13x9-in. baking dish. Cover and let rise until doubled, about 30 minutes.
6. Bake at 375°F for 25-30 minutes or until golden brown. Cool on a wire rack.
7. For glaze, combine powdered sugar and orange juice until smooth. Drizzle over warm rolls.