Cinnamon Orange Rolls

Ingredients

• 1 package active dry yeast (2 1/4 teaspoons)
• 1/4 cup hot water
• 1/4 cup plus 1 teaspoon granulated sugar
• 1/2 cup whole milk
• 1/4 cup olive oil
• 1 tablespoon grated orange zest plus 1/4 cup freshly squeezed orange juice
• 3 1/2 cups all-purpose flour, plus more if needed and for flouring
• 1 teaspoon kosher salt
• Vegetable oil, for the bowl
• Nonstick cooking spray, for the baking dish
• 3 tablespoons salted butter, softened
• 1 cup firmly packed light brown sugar
• 1 1/2 tablespoons ground cinnamon
• 2 cups confectioners' sugar
• 3 tablespoons freshly squeezed orange juice

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