Scald milk, place in mixing bowl and cool to lukewarm. Add the 3 tablespoons butter, the first 1/2 cup sugar, salt, and yeast. Let stand 3 minutes. Add eggs and 1 cup flour, beat well. Add enough of remaining flour to make a moderately stiff dough, beating well.
Turn out onto floured surface and knead until smooth and elastic, about 10 minutes. Place in greased bowl, turning to coat surface. Cover, and let rise until double, about 2 hours.
Divide dough in half (*thirds for smaller mini muffin tins) and roll each into a 12×8″ rectangle (*smaller rectangle for smaller rolls).
Stir together second 1/2 cup of sugar, softened butter, and orange peel. Divide equally among dough portions and spread over dough. Roll up each piece of dough, beginning at the long side, slice into rounds and place in greased muffin tins. Let rise until double, about 1 1/2 hours.
Place powdered sugar in a medium bowl and add orange juice one tablespoon at a time, stirring well, until glaze is desired consistency.
Bake rolls at 375° for about 15 minutes, until golden brown. Remove from oven and brush with glaze, then remove rolls from pan and cool on a wire rack.
Rolls can be served immediately, or frozen and reheated.
