Heat the milk in a small saucepan until it bubbles, then remove from heat. Mix in butter; stir until melted. Let cool until lukewarm.
In a large mixing bowl, combine flour, yeast, sugar, and salt; mix well. Add water, egg, and the milk mixture; mix well.
When the dough has just pulled together, turn it out onto a lightly floured surface and knead until smooth, 2-3 minutes.
Cover the dough with a damp cloth and let it rest for 10-15 minutes.
Meanwhile, in a small bowl, mix together frosting ingredients.
Roll out dough into a 12x9 inch rectangle.
Spread dough with half of the orange frosting. There are 2 ways to shape the rolls.1: Roll up the dough and pinch the seam to seal. Cut into 12 equal-sized rolls using a sharp knife or string. 2: You can also use a pizza cutter to slice the rolled-out dough into 12 strips, then roll each strip individually into a roll. Place rolls on a lightly greased 9x13" baking pan.
Cover and let rise until doubled, about 30 minutes.
Preheat oven to 375 degrees F.
Bake in the preheated oven for 20 minutes, or until browned. Spread remaining frosting over warm rolls.
Video
Notes
Can these Orange sweet rolls be made the night before?Yes. Make them to the point of placing them on the pan. Wrap with plastic wrap and set the pan in the refrigerator or freezer overnight. Thaw on the counter until room temperature then let rise for 30 minutes before baking the next day.