In a large bowl, dissolve yeast in water. Add the milk, butter, sugar, salt, eggs and 1-1/3 cups flour; beat until smooth. Stir in enough of the remaining flour to form a soft dough.
Turn onto a floured surface, knead until smooth and elastic, 6-8 minutes. Place in a greased bowl, turning once to grease top. Cover and let rise in a warm place until doubled, about 1 hour.
Meanwhile, melt butter in a saucepan. Stir in flour until smooth; gradually add orange juice. Stir in remaining filling ingredients. Bring to a boil; cook and stir for 2 minutes or until thickened. Remove from the heat; cool.
Punch dough down. Turn onto a lightly floured surface; divide in half. Roll each half into a 15x12-in. rectangle. Spread filling evenly over dough to within 1/2 in. of edges. Roll up jelly-roll style, starting with a long side; pinch seam to seal. Cut into 1-in. rolls. Place with cut side down into two greased 13x9-in. baking pans. Cover and let rise until doubled, about 1 hour.
Bake at 350° for 20-25 minutes. Cool. Combine glaze ingredients; drizzle over rolls.