Activate yeast: Combine warm water, yeast, and sugar in a small bowl. Wait for 5 minutes until it becomes foamy.

Mix dough: In a large bowl with a dough hook, blend eggs, melted butter, salt, flour, and the yeast mixture.

First knead: Run your mixer at medium speed for 3 minutes, then cover with a towel and let the dough rest for 10 minutes.

Second knead: Knead the dough again for 3 minutes and let it rest for another 10 minutes.

Final knead: Knead one last time for 3 minutes and allow a final 10-minute rest.

Shape dough: Divide into 3 balls, roll each out on a floured surface into a 15x8 inch rectangle.

Prepare filling: Combine softened butter, sugar, and orange zest. Spread over the dough rectangles.

Roll and cut: Roll each rectangle tightly lengthwise and slice into 1 1/2 inch sections.

Arrange in pan: Place each piece into a greased muffin tin and let rise for 30 minutes.

Bake: Preheat your oven to 400°F and bake the rolls for 10-12 minutes until golden.

Make glaze: Whisk together powdered sugar, additional orange zest, and orange juice until smooth.

Finish with glaze: Drizzle the glaze over the warm rolls before serving.