In a large mixing bowl, whisk together flour, sugar, yeast, and salt until well combined. In a small saucepan, gently warm the milk over low heat until it's warm to the touch but not boiling, then melt the butter into the milk. Pour this mixture into the dry ingredients, followed by the eggs and Florida orange juice. Mix until a soft dough forms, then knead for about 8–10 minutes until smooth and elastic.

Transfer the kneaded dough into a greased bowl, covering it with a clean kitchen towel or plastic wrap. Let it rise in a warm area for about 1 hour or until it has doubled in size.

Once the dough has risen, punch it down gently to release air. On a floured surface, roll out the dough into a rectangle approximately 1/4 inch thick. Spread a layer of softened butter over the surface, followed by a sprinkle of sugar. Roll the dough tightly into a log shape and slice into pieces.

Place the cut rolls in a greased baking pan, cover with a towel, and let them rise for about 30 minutes.

Preheat your oven to 350°F (175°C). Bake the rolls for approximately 20 minutes or until they are golden brown on top.

While the rolls are baking, prepare the glaze by mixing powdered sugar with a splash of Florida orange juice until smooth. Drizzle the glaze on the warm rolls.