In a glass bowl or measuring cup, heat milk to 115°F. Sprinkle the yeast and sugar on top of the warm milk and let sit until the top is foamy looking, about 5 minutes.
Meanwhile, add the flour, salt, sugar and zest to the bowl of a stand mixer. Using the dough hook attachment, mix on low, then slowly add in yeast mixture, followed by orange juice and butter. Finally, add one egg at a time, mixing to just incorporate before adding the next. Continue mixing, at medium speed now, until dough pulls together into a smooth-looking ball around the dough hook. Knead by hand if necessary.
Lightly oil a large glass bowl and place the dough in it. Cover with plastic wrap and allow to rise for 1 hour, or until doubled in size.
In a small saucepan, combine the cranberries, water and sugar over medium heat. Cook, stirring occasionally, until sugar is dissolved, cranberries are soft an starting to pop, and liquid is mostly absorbed. Set aside to cool.
While the dough is rising, combine the brown sugar and cinnamon for the filling in a small bowl and set aside.
When the dough is ready, prepare a large non-stick work surface to roll the dough out on.
Roll the dough out to a 10×20-inch rectangle. Brush entire surface with the melted butter, leaving a 1/2-inch border. Spread sugar mixture over dough, then top with orange zest and the cranberry mixture, gently spreading it to cover the dough evenly.
Prepare 2 round pans or a 9×13 baking pan by spraying with cooking spray or lining with parchment or foil, with some hanging over the sides for easy removal after baking, leaving enough overhang to grab later. Lightly spray the bottom and sides with cooking spray.
Starting at one of the shorter (10-inch) ends, tightly roll the dough, pinching ends and edges together well as you go. Using a sharp knife, carefully slice rolled dough into 12 equal pieces. Place in prepared pan, cover, and allow to rise for an hour, or until doubled in size.
Preheat oven to 350°F and bake for 35-40 minutes, or until centers reach 200°F.
Place the cream cheese, butter, vanilla, salt, orange juice and a tablespoon of milk in a bowl and mix until smooth. Once smooth add the powdered sugar and mix until fully incorporated. You can mix in an additional tablespoon or two of milk if you want a thinner frosting.
Drizzle glaze on top of the rolls and enjoy! These are great warm or at room temp!