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1. In a small saucepan, heat the milk and water until the mixture reaches 120 degrees.
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2. Pour the mixture into the bowl of a stand mixer fitted with a dough hook. Add the sugar and yeast, stir once, and let sit until the mixture bubbles (around 10 minutes).
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3. With the mixer on medium low speed, add the egg, butter, salt and flour.
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4. Increase the speed to medium for 8 minutes. The dough will be slightly sticky.
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5. Grease a medium-sized metal bowl. Add the dough, and turn to coat the top and bottom of the dough. Cover with a towel and let the dough rise in a warm place for one hour.
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6. After the first rise, punch to deflate the dough, and cover again with the towel while you mix together the brown sugar, butter, and orange zest for the filling.
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7. Turn the dough out onto a lightly floured surface and roll into a 25 x 6 inch rectangle (you may want to split this into two 13 x 6 inch rectangles).
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8. Spread the dough with the filling mixture. Roll up the dough and pinch together the seam. Slice into 24 one inch slices and place on a baking sheet.
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9. Cover with Saran Wrap and refrigerate overnight. Alternately, cover with a clean kitchen towel and let rise in a warm place for about 45 minutes.
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10. Let the refrigerated rolls sit at room temperature for about 30 minutes prior to baking.
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11. Preheat the oven to 350u00b0. Uncover and bake the rolls in a preheated oven for 20-25 minutes, until the tops of the rolls begin to brown.
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12. While the rolls bake, whisk together the icing ingredients until smooth.
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13. Remove the rolls from the oven and top with the icing.
