1. – In a small bowl, combine the yeast and warm water. Let sit for 5 minutes until foamy.

2. – In a medium saucepan, heat the milk over medium heat until it just starts to steam. Remove from heat and stir in the granulated sugar, melted butter, and salt. Allow to cool to lukewarm.

3. – In a large bowl, combine the yeast mixture, lukewarm milk mixture, and 3 cups of the flour. Knead for 5-7 minutes until a smooth, elastic dough forms, adding the remaining 1/2 cup flour as needed.

4. – Place the dough in a greased bowl, cover, and let rise for 1 hour or until doubled in size.

5. – Punch down the dough to release air bubbles. On a lightly floured surface, roll the dough into a 12×18 inch rectangle.

6. – In a small bowl, mix together the brown sugar and cinnamon. Spread the softened butter over the dough, then sprinkle with the cinnamon-sugar mixture.

7. – Tightly roll up the dough from the long side and cut into 12 equal pieces. Place the rolls in a greased 9×13 inch baking pan.

8. – Cover and let rise for 30 minutes.

9. – Preheat oven to 350°F. Bake the rolls for 25-30 minutes, until golden brown.

10. – In a small bowl, whisk together the confectioners’ sugar, orange juice, and orange zest until smooth. Drizzle the icing over the warm cinnamon rolls and top with festive sprinkles, if desired.