Orange Sweet Rolls

Ingredients (16)

• 1 package active dry yeast (2 and 1/4 teaspoons)
• 1/2 cup warm water
• Zest of 1 orange
• 1/2 cup orange juice
• 1/4 cup sugar
• 1 teaspoon salt
• 1 large egg
• 2 Tablespoons unsalted butter, softened to room temperature
• 3 - 3.5 cups all-purpose flour
• 3 Tablespoons butter
• 4 Tablespoons brown sugar
• 2 teaspoons cinnamon
• 1 1/2 cups powdered sugar
• 1 1/2 Tablespoons orange juice
• Zest of 1 orange
• 1 teaspoon vanilla extract