One of the first words out of my oldest son’s mouth was “rolls!” Whenever you would ask him his favorite food, they were always his answer! I love homemade rolls so much better than anything from the store, and these orange rolls definitely didn’t disappoint!
Mix milk, oil and sugar in a saucepan and heat to approximately 150 degrees F. Remove mixture from heat and let cool for 30 minutes. Sprinkle in yeast and let sit until the yeast completely dissolves and bubbles. Add 4 cups of flour and stir mixture together. Cover and let sit for one hour. Add in 1/2 cup flour, baking powder, baking soda and salt. Stir or knead mixture together. Lightly flour a clean surface, and roll dough into a long, thin rectangle.
In a small bowl, combine filling ingredients. Spread filling over the dough and tightly roll into a jellyroll shape, starting at the long end of the dough. Use a string or floss to cut dough into 1-inch pieces and place into a greased 9x13-inch baking pan (I placed 12 rolls in two 9x13-inch pans so the rolls were touching). Preheat oven to 375 degrees F and bake for 20-25 minutes or until golden brown. Whisk together glaze ingredients until smooth and spread over cooked rolls.