In a small bowl, add water, yeast and sugar. Let rest for 15 minutes.
In a large mixing bowl fitted with a dough hook, add eggs, butter, salt, flour and yeast mixture.
Knead the dough with your mixer on medium speed for 3 minutes. Cover bowl with a towel and let dough rest for 10 minutes.
Knead dough again for 3 minutes. Let rest for 10 minutes.
Knead dough one more time for three minutes. Let rest again for 10 minutes.
Divide the dough into 3 balls. Lightly flour your counter-top and roll each dough ball out into a 15''x8'' rectangle.
Mix 1/2 cup softened butter with 1/2 cup sugar and the zest of 2 oranges. Spread this mixture evenly over the three rectangles of bread dough.
Roll-up each rectangle lengthwise into a long tube (similar to how you would roll cinnamon rolls). Use a sharp serrated knife to cut the dough into 1 1/2'' sections.
Put each small dough round into a greased muffin tin. (You could also lay them in a greased baking dish, like cinnamon rolls, but we always make them in muffin tins!)
Allow dough to rise once more, for 30 minutes.
Bake at 400 degrees F for about 10-12 minutes. Remove from oven and drizzle with glaze.
For the Glaze:
Whisk powdered sugar, orange zest and orange juice until smooth. Drizzle over warm orange rolls.
Store orange rolls in a tightly sealed container or bag at room temperature.You can also freeze orange rolls. To freeze, allow the rolls to cool completely after cooking (before topping with glaze). Place muffins in a ziplock freezer bag in the freezer for up to 3 months. To reheat, microwave the muffins for 15-20 seconds and top with fresh orange glaze.