Dissolve yeast in warm water and warm orange juice in a bowl. Let stand until yeast softens and begins to form a creamy foam
about 5 minutes.
Beat warm milk
shortening
1/4 cup white sugar
egg
and salt together in a separate bowl. Stir yeast mixture into milk mixture. Add enough flour to mixture to create a soft dough. Turn dough onto a lightly floured surface; knead until smooth and elastic
6 to 8 minutes.
Grease a large bowl and two 11x7x2-inch baking sheets.
Place dough in the greased bowl and turn dough to coat all sides. Cover bowl with plastic wrap or a clean towel and let rise in a warm place until dough is doubled in size
about 1 hour.
Punch dough down and divide in half. Roll each half on a lightly floured surface creating two 15x10-inch rectangles.
Mix sugar
softened butter
and orange zest in a bowl until filling is smooth. Spread half of the filling onto each dough rectangle. Roll each rectangle around the filling
jelly roll-style
starting with the long end creating a log. Cut each log into 15 rolls.
Arrange rolls on the prepared baking sheets. Cover baking sheets with plastic wrap and let rolls rise until doubled in size
about 45 minutes.
Preheat oven to 375 degrees F (190 degrees C). Remove plastic wrap from baking sheets.
Bake rolls in the preheated oven until lightly browned
20 to 25 minutes.
Beat confectioners' sugar
cream cheese
softened butter
orange juice
and orange zest in a bowl until frosting is smooth. Spread frosting on the warm rolls.
