In a saucepan, heat milk, shortening, sugar and salt. Cool to lukewarm. Dissolve yeast in water. In a large bowl, combine yeast with milk mixture, eggs, juice, zest and 3 cups flour. Mix until smooth. Stir in enough remaining flour to form a soft dough. Knead until smooth and elastic, 6-8 minutes. Place dough in a greased bowl; cover and let rise in a warm place until doubled, about 1-1/2 hours. Punch dough down; let rest 15 minutes. Roll dough into a 16x10-in. rectangle. Cut into sixteen 1-in. strips. Tie strips into knots; place on greased baking sheets. Cover and let rise until doubled, about 1 hour. Bake at 400° for about 10 minutes or until golden brown. Cool on wire rack. Combine all glaze ingredients; spread over rolls.
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