1 cup milk
2 tablespoons butter
1/2 teaspoon salt
1/2 cup sugar
1 egg, beaten
1 teaspoon vanilla extract
1 Tbls. yeast
1 tsp. sugar
1/4 cup lukewarm water (110 degrees)
4 to 4½ cups flour
3 tablespoons melted butter
1 Tbls. orange zest
Sauce:
1 cup orange juice
1/4 cup sugar
1 Tbls. cornstarch
Heat milk with butter, salt and 1/4 cup of the sugar. Heat until butter melts, but do not boil. Let cool to tepid. Whisk in egg and vanilla.
Dissolve yeast in water with 1 teaspoon sugar. Combine 3½ cups of flour with yeast mixture and milk mixture, stirring to form dough. Turn dough onto lightly floured board. Clean and butter bowl.
Knead dough about 8 minutes until smooth and resistant, adding flour if necessary.
Return to bowl. Cover and place in warm place to rise until double in size, 1 to 2 hours.
Punch down dough. Roll out on lightly floured board to a large rectangle about 1/2" thick. Brush with melted butter. Mix 1/4 cup sugar with orange zest and sprinkle on.
Roll dough like jelly roll. Use a sharp knife to cut thick slices to make the rolls. Place in a greased cake pan.
Mix together the sauce ingredients and pour over the rolls. Cover and let rise in warm place until nearly doubled in size.
Heat oven to 325 degrees. Bake rolls 45 minutes, until light golden brown.