Add yeast to the milk and let it sit for 10-15 minutes.
In a large mixing bowl, whisk together flour, salt and brown sugar. Make a well in the centre of the dry ingredients, pour in yeast mixture together with orange juice, zest, egg and melted butter and mix everything together.
Once the dough begins to hold together, pull it out onto a flour-dusted surface. With flour covered hands, knead dough turning it over 10-12 times, adding small amounts of flour as needed just until a ball of dough starts to form. Place the dough into a well-oiled bowl, cover it with plastic wrap and let it sit somewhere warm for 8 hours or more (see note). Your dough will be ready once it has doubled in volume.
Once you’re ready to form your rolls, prepare a parchment-lined 9x13-inch baking dish. In a small bowl, mix together cinnamon and brown sugar and set aside.
Using a dough scraper or floured hands, pull dough out onto a floured surface and gently fold it into itself several times just until a flour-covered ball has formed. Using a flour-dusted rolling pin, roll out dough into a rectangle measuring around 9 x 13 inches.
Spread room temperature butter across the surface of the dough, then sprinkle with cinnamon sugar mixture. Gently press the sugar into the surface of the dough to keep it in place.
Starting at one of the 9” ends, roll up the dough into a log shape and place it seam side down. Using a sharp knife, cut dough into 1-inch rounds. Place rolls in baking dish, cover and let rise for another 60 minutes.
Preheat oven to 350ºF (177ºC). Uncover rolls and bake for 20-25 minutes until lightly browned. Remove from oven, transfer to wire cooling rack and let cool for 20-30 minutes.
To prepare the frosting, whisk together cream cheese, butter, confectioners’ sugar and vanilla until smooth. Spread over rolls and enjoy!