Gingerbread Sweet Rolls

Name: Gingerbread Sweet Rolls
Ingredients: For the dough; 2/3 cup plus 1 tablespoon lukewarm whole milk; 2 1/4 teaspoons active or instant dry yeast; 5 tablespoons unsalted butter, melted, plus more for greasing; 1/3 cup granulated sugar; 1 whole egg plus 1 yolk; 1 teaspoon pure vanilla extract; 1/2 teaspoon fine salt; 3 to 3 1/3 cups all-purpose flour, plus more for dusting; For the filling and icing; 1 tablespoon ground cinnamon; 1 1/4 teaspoons ground ginger; 1 teaspoon ground cardamom, or 6 whole pods, freshly ground; 1 teaspoon orange zest; 1/2 teaspoon grated nutmeg; 1/4 teaspoon ground cloves, or 4 to 6 whole cloves, freshly ground; 2/3 cup brown sugar; 9 tablespoons room temperature butter; 3/4 cup powdered sugar (for icing); 2 tablespoons orange juice (for icing)