Dissolve yeast in warm water in a large mixing bowl; let stand 5 minutes
Add dry milk and next 5 ingredients; beat at medium speed until well mixed
Gradually stir in enough flour to make a very soft dough
Place dough in a well greased bowl, turning once to grease top
Cover and refrigerate at least 4 hours or overnight
Punch dough down; divide dough into 4 portions
Working with one portion of dough at a time, turn dough out onto lightly floured surface; knead until smooth and elastic, adding extra flour, if necessary
Roll dough into a 14 x 9 inch rectangle
Combine 2 C sugar, cinnamon and butter, mixing well
Spread one fourth of cinnamon mixture on dough
Roll dough jellyroll fashion, starting at long side
Pinch seam to seal (do not seal ends)
Cut roll into 14, 1 inch slices; (I use thread or dental floss to do this, wrapping the thread around the roll of dough and then using the thread to cut through the dough) place rolls in 2 greased 9 inch round cake pans (pie pans), with 7 rolls in each pan
Repeat process with remaining 3 portions of dough
Cover and let rise in a warm place (85 degrees) free from drafts, 40 minutes or until doubled in bulk.
Bake at 375 for 13 to 15 minutes
Cool on wire racks
Combine powdered sugar and orange juice, stirring until smooth
Drizzle or pipe glaze over warm rolls
Yield - about 4 1/2 dozen
To freeze
Prepare and bake rolls as directed; let cool.
Omit glaze
Wrap in foil; freeze
To serve let rolls thaw, and bake in foil at 375 for 5-10 minutes