How to Make It
Dissolve yeast in 1/3 cup water in the bowl of a stand mixer fitted with the paddle attachment; let stand 5 minutes or until foamy. Add granulated sugar, milk, butter, 2 tablespoons rind, vanilla, eggs, and egg yolks; beat at low speed 1 minute.
Weigh or lightly spoon flour into dry measuring cups; level with a knife. Combine flour and salt in a bowl. Add half of flour mixture to milk mixture, and beat at low speed until combined, scraping down sides of bowl with spatula as needed. Remove paddle attachment; insert dough hook. Add remaining half of flour mixture; beat at medium-low speed for 5 minutes (dough will be soft and sticky).
Turn dough out onto a well-floured work surface; knead 2 to 3 minutes or until smooth. Shape dough into a ball. Place in a large bowl coated with cooking spray, turning to coat. Cover and let rise in a warm place (85°F), free from drafts, for 1 hour and 30 minutes or until doubled in size.
Coat 2 (8-inch) square baking dishes with cooking spray. Combine 1 tablespoon rind, brown sugar, and cinnamon in a bowl. Turn dough out onto a well-floured work surface. Gently press dough into an 18- x 8-inch rectangle; sprinkle with brown sugar mixture. Gently roll up dough, jelly-roll fashion, starting with a long end. Pinch seam to seal. Cut dough into 18 (1-inch) slices using a serrated knife. Place 9 slices, cut side up, in each of the prepared pans. Cover; let rise 45 minutes.
Preheat oven to 350°F.
Uncover dough. Bake in preheated oven for 17 minutes. Cool rolls slightly, or follow freezing instructions.
Combine remaining 1 teaspoon rind, powdered sugar, and orange juice in a bowl, stirring with a whisk. Spoon icing evenly over both pans.
How to Reheat: Remove plastic wrap. Bake in foil at 350°F for 25 minutes. Remove foil. Prepare icing as directed in step 7, halving the amount if icing just one pan.
How to Freeze: Cool unfrosted rolls completely. Remove from baking dish; wrap together in foil. Wrap in plastic wrap. Freeze up to one month.