Zest the fresh orange(s) and squeeze out the fresh orange juice.
Warm the milk slightly, (I use the microwave) to take the chill off. Yeast works best at 110F to 115F degrees. Using a thermometer to check the temperature is a good idea.
Mix the sugar and the yeast into the warmed milk. Let the yeast activate. It will start to bubble in a few minutes.
In a large bowl beat the eggs. Add the orange juice along with the orange zest, and the melted butter. Next, mix in the yeast and milk mixture.
Sprinkle in the salt and gradually start adding the flour. Stir and continue to add flour until you are easily able to knead the roll dough.
Knead the dough for several minutes then place in a greased bowl and cover. Let the dough double in size.
While the dough is rising, mix together the brown sugar, cinnamon, and cardamom filling. Set it aside until ready to use.
When the dough is ready, punch it down.
Roll out the dough on a floured surface that measures about 12" x 15". Spread softened butter over the dough and sprinkle with the cinnamon and cardamom filling. Roll up the dough.
Slice up the dough into 12 orange cinnamon rolls.
Place the rolls into a baking dish that has been sprayed with non stick spray. Cover the rolls lightly and let them to until they double in size.
Preheat the oven to 375 degrees F. When the rolls are ready, bake them for 20 - 30 minutes or until golden brown.
Cool slightly. Prepare glaze and spread over slightly warm rolls.
Measuring the milk and orange juiceYou can adjust the amount of milk you based on the amount of fresh squeezed orange juice you get from your orange(s). Both liquids together should add up to 1 cup. To make overnight rolls...Once you place the sliced orange cinnamon rolls in a baking dish, cover with plastic wrap and place in the refrigerator. In the morning, remove and set on the counter for an hour or two. They need come to room temperature and rise. Preheat the oven to 375 degrees, and then bake the rolls for 20 - 30 minutes until golden brown.While making the glazeStart with 1 tablespoon of milk and slowly add more as needed to get a consistency for the icing as you like.