1. Combine warm milk and granulated sugar in a large bowl. Sprinkle yeast over the mixture and let it sit for 5 to 10 minutes until foamy.

2. Add melted butter, eggs, vanilla extract, and salt to the yeast mixture. Gradually mix in flour until a soft dough forms.

3. Knead the dough for 8 to 10 minutes until smooth and elastic.

4. Transfer dough to a greased bowl, cover, and let rise for 1 to 1 1/2 hours or until doubled in size.

5. In a separate bowl, mix softened butter, brown sugar, orange zest, orange juice, and cinnamon to create the filling.

6. Roll dough into a 16×12-inch rectangle on a lightly floured surface.

7. Spread the orange filling evenly across the dough.

8. Roll the dough tightly into a log and cut into 12 equal rolls.

9. Arrange rolls in a greased 9×13-inch baking dish.

10. Cover and let the rolls rise again for 30 to 45 minutes until puffy.

11. Preheat oven to 350°F (175°C).

12. Bake rolls for 22 to 28 minutes until lightly golden brown.

13. Whisk powdered sugar, orange juice, orange zest, vanilla extract, and cream cheese together until smooth.

14. Pour glaze over warm orange rolls and serve immediately.