In a large bowl, combine the warm milk, sugar, and yeast. Let sit for about 5 minutes until frothy.

In another bowl, whisk together the flour, salt, and orange zest.

Add the melted butter and eggs to the yeast mixture, then gradually add the flour mixture until a soft dough forms.

Knead the dough on a lightly floured surface for about 5-7 minutes until smooth.

Place the dough in a greased bowl, cover with a damp cloth, and let rise in a warm place for about 1 hour or until doubled in size.

Preheat the oven to 350°F (175°C).

Punch down the risen dough and divide it into 12 equal pieces.

Roll each piece into a long rope, then tie into a knot and tuck the ends underneath.

Place the knots on a greased baking sheet, cover, and let them rise for another 30 minutes.

Bake in the preheated oven for 20-25 minutes or until golden brown.

In a small bowl, mix the powdered sugar and orange juice until smooth.

Drizzle the glaze over the warm rolls once they are out of the oven.