Prepare the Dough:

• In a small bowl, combine the warm water, warm milk, and sugar. Sprinkle the yeast over the top and stir to dissolve. Let the mixture sit for 5-10 minutes, or until it becomes frothy.
• In a large mixing bowl, combine the flour and salt. Add the yeast mixture, eggs, and softened butter to the bowl. Stir with a wooden spoon until the dough starts to come together.
• Knead the dough on a lightly floured surface for about 8-10 minutes until it becomes smooth and elastic. Alternatively, you can use a stand mixer with a dough hook attachment to knead the dough on low speed for about 5-6 minutes.
• Form the dough into a ball and place it in a greased bowl. Cover with a clean kitchen towel or plastic wrap and let it rise in a warm place for 1-1.5 hours, or until it doubles in size.

2. Shape the Rolls:

• Punch down the dough and divide it into 12 equal portions.
• Roll each portion into a ball and place them in a greased 9×13-inch baking dish. Arrange them in rows, ensuring they are close together but not touching.
• Cover the dish with a kitchen towel and let the rolls rise for 30-45 minutes, or until they are puffed up and nearly double in size.

3. Bake the Rolls:

• Preheat the oven to 350°F (175°C). Brush the tops of the rolls with the melted butter.
• Bake the rolls for 20-25 minutes, or until they are golden brown on top. Remove from the oven and allow them to cool slightly.

4. Make the Orange Glaze:

• While the rolls are baking, prepare the orange glaze. In a small bowl, whisk together the powdered sugar, orange juice, orange zest, vanilla extract, and melted butter until smooth and well combined.
• Drizzle the orange glaze over the warm rolls, allowing it to soak into the layers for extra flavor.

5. Serve:

• Serve the rolls warm or at room temperature, and enjoy the deliciously buttery and citrusy treat!