Dissolve the yeast in a bowl of warm milk (110-degrees), until foamy.
In a stand mixer (fitted with a dough hook), add the yeast, granulated sugar, eggs, butter and flour and salt.
Mix well until a ball forms. Place dough in a lightly greased bowl and cover. Allow dough to rest and rise for 2 hours.
Turn dough onto a lightly floured work surface.
Punch the dough down and divide in half. Set half aside.
Roll dough into about 9" X 14" rectangle.
Spread 2 tablespoons of butter over the rolled out dough.
Sprinkle and then spread half of the brown sugar, zest mixture over the dough.
Start on long edge of dough and gently roll the dough to create a log.
Gently slice log into 1-inch rolls. Place on a parchment-paper lined tray. Cover and allow to rest and rise for 1 hour. Rolls will nearly double in size.
Repeat steps with second half of dough.
Brush rolls with egg wash.
Bake for 20-25 minutes until golden brown.
Spread frosting while rolls are still warm.
Mix the brown sugar, cinnamon, oranges zest until well blended.
Beat the cream cheese and butter until soft and fluffy.
Add confectioner's sugar and incorporate well. Add vanilla. Beat until creamy.
Spread onto cooled rolls.