In the bowl of a stand mixer, combine the milk, orange juice, instant yeast, honey, eggs, butter, 3 ½ cups flour and salt. With a dough attachment, mix the ingredients until the flour is incorporated, about 4-5 minutes. If dough is too sticky, add flour 1 tablespoon at a time but it's better to be on the sticky side. Cover the dough with plastic wrap and let rest at room temperature for 1 hour or until it has doubled in size.
In a small bowl, mix together the sugar, cinnamon and orange zest for the filling. Set aside.
Lightly dust your work surface with some flour. Remove dough from mixing bowl and punch down. Roll the dough to about ¼" thick and a rectangle about 10x16 in. It doesn't have to be perfect. I use a 9x13 baking dish as reference. Spread the softened butter evenly over the dough. Sprinkle the filling over the butter and lightly push into the butter.
Starting with the long edge close to you, roll the dough into a log, trying to keep tight throughout. With a sharp knife, cut 12 rolls. Place the rolls in a greased or parchment-lined 9x13 baking dish. Cover with plastic wrap and transfer to fridge to rise overnight. (You can let rise for 1 hour at room temperature in a pinch)
Preheat oven to 350°F. Bake the rolls for 25-30 minutes or until golden brown on top and the middles are done.
While baking rolls, make the orange glaze. In a small bowl, mix together the sugar, orange juice, orange zest and vanilla extract. Add more orange juice to thin out or more sugar to thicken.
Drizzle the glaze over the rolls before serving.