Best Homemade Orange Rolls

Name: Best Homemade Orange Rolls
Prep time: 25 min
Cook time: 25 min
Total time: 50 min
Cuisine: American
Ingredients: 1/2 cup warm milk; 1/2 cup orange juice; 1 tablespoon instant dry yeast; 1 tablespoon white granulated sugar; 1 teaspoon salt; 3 tablespoons salted butter (softened); 1 large egg; 3 to 3 1/4 cups all-purpose flour; 1/2 cup salted butter (softened); 1 cup white granulated sugar; 2 tablespoons orange zest; 4 ounces cream cheese (softened); 1/4 cup salted butter (softened); 1 cup powdered sugar; 1/2 teaspoon orange extract (optional); 1 to 2 tablespoons orange juice