Combine the milk, orange juice, and yeast in a glass measuring cup, stirring to dissolve the yeast. Let bloom for 5 minutes, until foamy.

Make the dough: In the bowl of a stand mixer fitted with the paddle attachment, combine the flour, sugar, butter, eggs, orange zest, and salt. Mix until just combined.

Add the milk mixture and beat on low for 1-2 minutes, or until blended. Switch to the dough hook attachment, increase speed to medium-low, and beat for 5 minutes, or until the dough is smooth, soft, and slightly sticky.

Spray the inside of a glass bowl with nonstick spray, then place the dough inside, flipping to coat the ball. Cover the bowl, place it in a warm place, and allow the dough to rise (it should double in size) for 45-60 minutes.

While the dough rises, make the filling. Mix the sugar, softened butter, orange zest, and cinnamon in a small bowl until smooth.

Once doubled in size, punch the dough down. Turn the dough out onto a lightly floured surface. Roll it into a 20×14-inch rectangle, about ¼ inch thick.

Spread the filling in a thin, even layer over the dough, leaving a 1-inch gap at one long edge. Roll up the dough, jelly roll style, starting at the long end.

Grease a 9×13-inch baking pan. Use a piece of unflavored dental floss to cleanly cut the dough log into 12 large rolls and place side-by-side in the prepared baking pan. Cover the baking pan and allow the rolls to rise for 30-45 minutes, or until doubled in size.

While the rolls are rising, preheat oven to 350°F.

Once doubled in size, bake the rolls for 20-25 minutes, or until lightly golden brown and 190°F internally. Remove from the oven, and cool slightly.

While the rolls bake, make the frosting. In the bowl of a stand mixer fitted with the paddle attachment, beat the powdered sugar, cream cheese, softened butter, orange juice, and orange zest together until smooth.

Spread frosting onto the warm rolls and serve.