Warm the milk in the microwave for 45 seconds on high. Sprinkle in yeast and 2 tablespoons of sugar. Mix gently in an electric mixer with the paddle attachment. Let stand for 5 minutes or until bubbly and foamy.

Combine remaining sugar, butter, eggs, salt, extract, and zest in a bowl. Mix for 15 seconds. Add yeast/milk and mix on low speed, alternating between liquid and flour until combined.

Use the hook attachment on low speed for 6-8 minutes or until smooth and firm. Place dough in a large lightly greased metal or glass bowl. Cover with plastic wrap and allow to rise for 1½ hours.

Once the dough has risen, roll it out into a large rectangle. Spread butter, then marmalade on top. In a small mixing bowl combine brown sugar, cinnamon, vanilla, and orange zest. Sprinkle on butter/marmalade mixture. Roll the dough lengthwise into a large log. Using plain dental floss, cut each section in half evenly.

Place rolls into a 9×13 pan or two 9″ pie pans with baking spray to prevent sticking. Leave at least an inch around each roll. Cover with plastic wrap and allow to rise for 30 additional minutes.

Once rolls have risen, place in the oven at 400 degrees for 18-20 minutes or until golden brown on top.

While rolls bake, prepare the glaze by combining all ingredients in a large bowl and mixing until smooth.

Remove rolls from the oven and allow to cool for 15 minutes.

Drizzle the frosting on top and spread using a small spatula to distribute it evenly.

Wait 10 minutes before serving.