Combine the milk, orange juice, and yeast in a glass measuring cup, stirring to dissolve the yeast. Let bloom for 5 minutes, until foamy.

In the bowl of a stand mixer fitted with the paddle attachment, combine the flour, sugar, butter, eggs, orange zest, and salt. Mix until just combined.

Add the milk mixture and beat on low for 1-2 minutes, or until blended. Switch to the dough hook attachment, increase speed to medium-low, and beat for 5 minutes, or until the dough is smooth, soft, and slightly sticky.

Spray the inside of a glass bowl with nonstick spray, then place the dough inside, flipping to coat the ball. Cover the bowl, place it in a warm place, and allow the dough to rise for 45-60 minutes.

While the dough rises, make the filling by mixing the sugar, softened butter, orange zest, and cinnamon until smooth.

Once the dough has doubled in size, punch it down. Turn the dough out onto a lightly floured surface and roll it into a 20×14-inch rectangle. Spread the filling over the dough, leaving a 1-inch gap at one long edge. Roll up the dough, jelly roll style.

Grease a 9×13-inch baking pan. Use a piece of unflavored dental floss to cut the dough log into 12 rolls and place them in the prepared baking pan. Cover and allow the rolls to rise for 30-45 minutes.

Preheat oven to 350°F. Once the rolls have doubled in size, bake for 20-25 minutes, or until lightly golden brown and 190°F internally. Remove from the oven and cool slightly.

While the rolls bake, make the frosting by beating the powdered sugar, cream cheese, softened butter, orange juice, and orange zest together until smooth. Spread frosting onto the warm rolls and serve.