Homemade Orange Sweet Rolls Recipe

Name: Homemade Orange Sweet Rolls Recipe
Cuisine: American
Ingredients: 2 ¾ cups all-purpose flour (plus extra for dusting); 3 tbsp granulated sugar; 1 packet active dry yeast (about 2 ¼ tsp); ½ tsp salt; ¾ cup warm milk (not hot, around 110°F); 3 tbsp butter, melted; 1 large egg; ⅓ cup unsalted butter, softened; ½ cup granulated sugar; 2 tbsp orange zest (from about 2 oranges); For the Orange Glaze; 1 cup powdered sugar; 2 tbsp fresh orange juice; 1 tsp orange zest; 1 tbsp milk (optional, for desired consistency)