Prepare the Milk: Scald the milk in a saucepan over medium heat until steaming, about 5 minutes. Let it cool to 110-115°F.

Bloom Yeast: Combine warm milk, rapid rise yeast, and half of the sugar in a bowl. Let sit for 8-10 minutes until bubbly.

Mix Dry Ingredients: Whisk together flour, remaining sugar, and salt in a large bowl. Create a well in the center.

Combine Components: Pour yeast mixture, orange juice, melted butter, and egg into the well. Mix until a sticky dough forms.

Knead Dough: Knead dough on a floured surface for 5-7 minutes until smooth and elastic. Place in a buttered bowl and cover.

Roll and Fill: Roll out the dough into a rectangle. Spread softened butter, then sprinkle with sugar, orange zest, and cinnamon. Roll up and cut into slices.

Second Rise: Place cut rolls in a buttered baking pan. Cover and let rise for 45-60 minutes until puffy.

Bake: Preheat oven to 350°F. Bake rolls for 25-30 minutes until golden brown.

Prepare Frosting: Mix cream cheese, powdered sugar, orange juice, and zest until smooth.

Frost the Rolls: Cool rolls slightly. Spread frosting over warm rolls before serving.