Pour the milk into a small saucepan and warm slightly on the stove top - do not let it boil. Then let it cool for a few minutes.
Dissolve the yeast in the 1/2 cup lukewarm water and set it aside to bubble for a few minutes.
In a large bowl, mix the milk, sugar, oil, and salt. And stir everything together until the sugar is mostly dissolved.
Add 2 cups of the flour and mix it into the mixture.
Add the beaten eggs and mix it all together well.
Add the orange juice, and zest to the flour mixture and stir together well.
Add the yeast water, and stir it in.
Add the rest of the flour 1 cup at a time, mixing until combined after each cup.
The last cup of flour should be done 1/4 cup at a time until you feel your dough is the right consistency. You want it still a bit sticky, but not too wet.
Remove the dough, and add non stick spray or oil to the bowl. Return the dough to the greased bowl, and cover it with a towel. Let the dough rise until doubled, about 1 to 1 1/2 hours.
Once the dough has risen you can choose to make dinner rolls, or crescent rolls.
For either type of roll, lightly flour a flat surface and punch down the dough to deflate. Add a little more flour as needed to make dough easy to work with.