In a small saucepan, heat the milk and butter just until warm and the butter is melted. Let cool slightly if hot. Add the warm milk mixture to the flour mixture. Beat in the eggs and orange zest until smooth. Gradually stir in the remaining flour until a soft dough forms.

Roll each portion into a ball, then cut 3 slits into each ball without cutting all the way through (to create the “butterflake” effect). Lightly brush with melted butter and place into a greased muffin tin. Cover and let rise again for about 30–40 minutes.

While the rolls bake, whisk together the powdered sugar, orange juice, and zest to make the glaze. Drizzle the glaze over the warm rolls right after baking. Serve warm or at room temperature.