• 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.

For dinner rolls:

• Spray muffin tins with cooking spray. (You can also use 9x13 baking pans).
• Squeeze off about a 2 inch size ball of dough and form into a ball
• Place each ball into 1 cup of a muffin tin, continue until all muffin tins are full (it will make about 3 dozen) (Or you can lay them 3x4 in three 9x13 pans)
• Cover the pans with a towel and and let the rolls rise for 1/2 hour to 1 hour.

For crescent rolls

• Divide the dough into 6 balls and roll each ball into a flatten circle.
• Cut each circle with a pizza cutter into 6 to 8 sections like a pizza
• Starting at the large end of the triangle, roll the dough to the small end.
• Curve slightly like a moon crescent, and place the roll onto a sprayed cookie sheet, continue to do this with the rest of the dough.
• Cover with a towel and and let the rolls rise for 1/2 hour to 1 hour.

For baking the rolls:

• Preheat the oven to 375 degrees Fahrenheit.
• After the rolls have risen, place the pans in the oven to bake for 12 to 14 minutes, or until golden and cooked through.

For the Glaze:

• If you want to glaze the rolls, add all the ingredients to a medium sized bowl and beat them with a hand mixer until smooth.
• Spread the glaze over the warm rolls.