Heat the whole milk and melted butter in a small saucepan until lukewarm (between 105°F-115°F).

Transfer this mixture into a mixing bowl and sprinkle the active dry yeast on top, letting it sit for a minute to activate.

Stir in the freshly squeezed orange juice, sugar, whole egg, and egg yolk. Mix on medium-low speed until combined.

Add the bread flour and salt, mixing until just combined. Attach a dough hook and knead on medium-low for about eight minutes.

Transfer the dough to a greased bowl, cover with plastic wrap and a warm towel, and let rise in a warm place for 1.5 to 2 hours until doubled in size.

Prepare a 9x9 inch baking pan by greasing it lightly.

Combine softened butter, brown sugar, white sugar, ground cinnamon, and orange zest in a medium bowl.

Once the dough has risen, turn it out onto a floured surface and roll into a rectangle measuring 9x14 inches.

Spread the filling mixture evenly over the dough, then roll tightly from one long edge to the other to create a log.

Slice the log into nine equally-sized pieces and place them into the prepared baking pan.

Cover the pan and let the rolls rise again for another 30 to 60 minutes.

Preheat your oven to 350°F.

Heat the heavy cream in the microwave until lukewarm and pour it over the rolls.

Bake in the preheated oven for 20 to 22 minutes or until lightly browned and the internal temperature reaches 190°F.

Allow the rolls to cool for about 5 to 10 minutes.

Mix the powdered sugar and orange juice to create a glaze.

Drizzle the glaze over the warm rolls and serve immediately.