In the mixing bowl of a stand mixer, place the water and the yeast. Stir to combine. Allow the yeast to proof for five minutes. It will start to foam and bubble.
Add the milk, 1/2 cup melted butter, eggs, sugar, salt, 1 teaspoon orange zest, 1 teaspoon vanilla extract, and the flour to the bowl. Mix with the dough hook until the dough clears the sides of the pan and forms an elastic dough ball. You may need to scrape the sides of the bowl once or twice.
Place the dough in a greased bowl and allow it to rest in a warm place until doubled in bulk, about one hour.
Lightly flour a large work surface. Place the dough on the floured surface and roll it out into a rectangle, about 16x22 inches. Spread the softened butter all over the dough, leaving a one inch border on one of the long sides. In a small bowl, combine the brown sugar and cinnamon. Spread the cinnamon-sugar mixture all over the butter.
Starting at a long edge, roll the dough into a tight spiral. Seal the outer edge by pinching it into the roll.
Using unflavored dental floss or a sharp knife, cut off the uneven ends and bake those separately. Cut the main section into twelve thick chunks.
Grease a large sheet pan with nonstick cooking spray or line it with parchment paper. Place the rolls evenly in the pan. Let them rise for about 30 minutes.
About ten minutes into the rise time, preheat the oven to 350°. After this second rise, bake the rolls for 20 to 25 minutes until golden brown.
Meanwhile, prepare the glaze. Combine the powdered sugar with 1 teaspoon orange zest and 2 tablespoons orange juice.
When the rolls are done baking, place the pan on a rack to cool. Apply the glaze when the rolls are still warm.
To freeze: place rolls on a lined sheet PRIOR to the rise and baking. Freeze until firm and place in ziptop bags and store in freezer. The night before serving, remove as many rolls from the bag as you like. Place on greased baking sheet and allow to thaw and rise. Then proceed with baking.