Next add the orange juice, maple syrup, melted butter, egg, and orange zest. Whisk to combine.

Using a stand mixer on low-medium speed with the dough hook attachment, slowly stir the flour and salt into the wet ingredients. Once all of the flour has been added and a shaggy dough has formed, knead for 2-3 minutes or until the dough is smooth and elastic (it should bounce back when you poke it).

Transfer the dough to a lightly oiled bowl and cover it with plastic wrap and then a tea towel. Place it in a warm place to rise until doubled in size -- about 1-1.5 hours.

Make the filling. In a small bowl, combine the brown sugar, butter and cinnamon. Set aside until ready to use.

Assemble the orange rolls. Once the dough has risen for 1 to 1.5 hours, turn it out onto a lightly floured surface.

Roll it into a rectangle that is approximately 18” long, 12” wide, and 1/4” thick.

Spread the filling mixture over the dough making sure to spread all the way to the edges. Then roll into a tight log, starting at one of the long sides. For larger rolls, roll the tight log starting at one of the short sides.

Slice the log into 1” rolls. This will yield about 12 rolls, depending on how tightly you roll your log and whether you start rolling at a long or short side of the dough.

Butter a 9x13-inch baking dish or line it with parchment paper. Add the rolls to the dish, making sure they just barely touch. Depending on how tightly you rolled dough into the log, you can either place rolls 3x4 OR 2x4 with extra rolls in another baking dish.

If you’re making the rolls in advance, wrap them in plastic and place them in the fridge for up to 12 hours. Bring the rolls to room temperature (about 30 minutes) when you’re ready to bake and then skip to step 13.

If you aren’t making the rolls in advance, cover with plastic wrap and then a tea towel, and place them in a warm spot to rise until the rolls begin to touch -- about 30 minutes. While the rolls rise, preheat your oven to 350°F and make the icing.

When the wet ingredients are smooth, turn the mixer to low speed and slowly add the powdered sugar.

Scrape down the sides of the bowl and turn the mixer to medium speed. Beat for 30-45 seconds or until the icing is light and fluffy. Set aside.

Bake the orange rolls for 15-17 minutes (depending on your oven) or until the centers are set, be sure not to overbake.

Allow the orange rolls to cool for 10 minutes before icing.