Grease a 10-inch bundt pan with nonstick cooking spray.
In a small bowl, combine sugar and orange zest.
In a separate bowl, combine orange juice and melted butter.
Dip biscuit dough pieces in orange juice mixture, roll in sugar mixture and place in prepared pan. Pour remaining orange juice mixture over the biscuits.
Bake for 30 minutes, or until golden brown. Let cool for a few minutes, then turn bundt pan over onto a serving platter. Remove bundt pan.
To make glaze, whisk melted butter, vanilla, milk and powdered sugar together until combined. Top with glaze and sprinkle with additional orange zest (if desired).