To the bowl of a stand mixer with the paddle attachment, add warm milk, 1 tablespoon sugar, and yeast. Mix together. Let sit until yeast is foamy, about 5 minutes.

Add eggs, butter, the remaining 4 tablespoons of sugar, all-purpose flour, bread flour, and salt. Switch to the dough hook attachment. Mix on low speed to combine.

Continue kneading on medium speed until the dough is smooth, about 5 minutes.

Spray a medium bowl with nonstick cooking spray. Place the dough into the bowl, rotating it to grease all sides. Cover with a towel or plastic wrap. Let it rise in a warm area until doubled in size, 1-2 hours.

Once the dough has doubled in size, place it onto a floured counter or work surface. Roll the dough into a 10×15-inch rectangle. It should be about ¼-inch thick.

Spray a 9×9-inch baking dish with nonstick cooking spray.

Starting on the long edge of the dough, tightly roll it up (like a log or cylinder).

Using a very sharp knife, evenly cut the log into 9 rolls. Place them into the prepared baking dish, filling side up. Cover with plastic wrap. Let rise in a warm place until doubled, about an hour.

Preheat oven to 325°F.

Bake for 35-40 minutes, or until lightly golden on the edges and done in the middle.

Let rolls cool slightly.

While the rolls are cooling, make the frosting. To the bowl of a stand mixer with the paddle attachment, add cream cheese, butter, confectioners' sugar, orange juice, and vanilla extract. Mix on low just to combine.

Once the ingredients are all incorporated and smooth, change to the whisk attachment. Mix on high and leave it for 4-5 minutes. The frosting should be light and fluffy.

While the rolls are still warm, frost generously.