Prepare dough in a mixer. Combine warm milk with yeast and sugar. Mix and allow to proof (activate and bloom) for about 5 minutes or until foamy. Add orange juice. The milk will look like it is curdling that's okay! Everything will mix together nicely.
Add 1 teaspoon salt and 3 1/2 cups flour. Let mix on medium speed until well combined. Dough should be smooth and elastic. Turn dough onto a floured counter. Allow to rise covered with a tea towel for about 10 minutes.
Mix sugar, flour, orange zest and cinnamon together for the filling.
Sprinkle flour on top of the dough if it is sticky. Roll dough into a rectangle about 11×13. Brush rectangle with 2 tablespoons melted butter. Sprinkle and spread orange sugar mixture to cover the dough.
Roll dough lengthwise like you’re making cinnamon rolls.
*Add roll to a baking sheet with parchment for easy clean up. Tuck the top end under.
With a pastry knife or sharp knife make a slice down the center of the roll leaving about a 1/2 inch attached at the top. Carefully (without pulling) twist dough ropes and tuck the end under.
Allow to rise (covered with a tea towel) for 20 minutes. This will really help it form into a beautiful shape. I like to preheat my oven while the twist rises.
Bake at 375° for 20-23 minutes or until lightly golden. Allow to cool slightly before adding the creamy orange glaze.
Creamy orange glaze topping: Mix ingredients together and add to twist after it has cooled 10-15 minutes. The glaze will melt onto the twist and create a sweet and delicious topping to compliment the filling! You can use any extra to top slices as you cut them.
*If you do not like cream cheese in the frosting, you can remove it and the glaze will still be delicious!
