Panera Cinnamon Rolls

Cinnamon Roll Dough
1 cup milk lukewarm (110°F)
2 1/2 teaspoons instant or active dry yeast or 1 packet (1/4 ounce) Red Star Platinum Yeast
1 teaspoon + 1/2 cup sugar divided use
2 large eggs at room temperature
8 tablespoons butter melted
4 1/2 cups bread flour or all-purpose flour
1 1/2 teaspoons salt
Cinnamon Roll Filling
1 cup packed dark brown sugar
8 tablespoons butter softened
2 1/2 tablespoons ground cinnamon (Saigon cinnamon is preferred)
Cinnamon Roll Icing
2 cups powdered sugar
1/16 teaspoon salt
2 tablespoons butter melted
1/2 teaspoon vanilla extract
1/2 teaspoon orange extract
2 to 3 tablespoons milk or heavy cream

To make the cinnamon roll dough: Heat the milk, ensuring that it does not exceed 110°F. Add the yeast and 1 teaspoon of sugar to the milk and wait a few minutes for the mixture to become foamy. This indicates that the yeast is active.
Place the milk in the bowl of a stand mixer with the eggs, butter, flour, salt, and the remaining 1/3 cup of sugar. Mix to combine. Use the dough hook attachment to knead the dough for about 5 to 7 minutes. The dough should be very sticky.
Grease a large bowl with nonstick cooking spray and place the dough in the bowl. Spray some nonstick cooking spray on top of the dough and cover the bowl with a towel. Set the bowl in a warm place and allow the dough to rise until doubled in size. Depending on the temperature of your house, this could take between 60 and 90 minutes. When doubled, punch down the dough and let it rest for 5 minutes.
To make the cinnamon roll filling: Combine the brown sugar, butter, and cinnamon in a medium bowl. Mix with an electric mixer until this becomes a paste. Set aside.
On a floured surface, roll out the dough into a 15×20-inch rectangle. Spread the cinnamon roll filling evenly over the dough. Starting from the long edge, roll up the dough and pinch the edge to seal. Cut the dough into 12 segments.
Spray a 13×9-inch baking pan with nonstick spray. Place the dough slices in the pan, cover with a towel, and allow the cinnamon rolls to rise for 30 minutes.
Preheat the oven to 350°F.
Bake the cinnamon rolls for 25 minutes, or until the rolls are lightly golden brown and the center rolls are cooked through. Your time may vary, depending on how thick the rolls are. Remove the cinnamon rolls from the oven and let cool in the pan for about 10 minutes.
To make the cinnamon roll icing: Combine the powdered sugar, salt, butter, vanilla, and orange extract in a small bowl and mix well. Add just enough milk or cream to make the frosting spreadable, about 2 to 3 tablespoons. Spread the icing onto the cinnamon rolls.