On a lightly floured surface, roll each piece of dough into an 8-in. rope. Flatten to 1-1/2-in. wide strip. Combine the butter, sugar, orange juice and zest; spread over dough. Roll up jelly-roll style, starting with a short side. Pinch ends to seal. Place in a greased 8-in. square baking dish. Cover and let stand in a warm place until doubled, about 45 minutes.
Bake at 350° for 18-22 minutes or until golden brown. Combine glaze ingredients and drizzle over warm rolls.
Editor's Note: The baked rolls may be frozen for up to 3 months.