Preheat oven to 350°F.  Thoroughly grease a 13x9 baking pan. 

Mix the dry ingredients. Combine 2 cups of flour, sugar, dry yeast and salt in the bowl of a stand mixer.  Using a large spoon, stir the mixture until blended.  

Heat the water. Place the water and butter in a microwave-safe bowl.  Microwave on High in 15 second increments until the water is very warm but not to the touch (120° to 130°F).  The butter will be soft but not fully melted.  Add the water butter mixture, the egg and the zest to the flour mixture.  

Form the dough. Attach the bowl to the stand mixer and beat at medium speed for 2 minutes, scraping bowl occasionally. Add an additional cup of flour; beat for 2 minutes at high speed, scraping bowl occasionally. Remove the bowl from the mixer and stir in just enough remaining flour so that the dough will form into a ball.

Knead the dough.  Place the dough onto a lightly floured work surface and knead for about 6 to 8 minutes. To maintain the right consistency and keep the dough from sticking to your hands, add small amounts of flour as you are kneading.The dough should be smooth and elastic and will spring back when lightly pressed with two fingers. Cover with a towel; let rest for 10 minutes.

Make the filling. Combine sugar and cinnamon in a small bowl. Set aside.

Roll the dough. Using the same lightly floured work surface, roll dough into a 17 x 10-inch rectangle using a rolling pin.

Make the rolls.  Using a large spoon, spread 3 tablespoons of softened butter over dough, leaving at least ½-inch from the edges on the long sides. Sprinkle with cinnamon sugar mixture. Starting at the long end of the rectangle, roll up tightly. Carefully cut into in to 12 equal pieces using a serrated knife. Place, cut sides down, in the prepared baking dish. Cover with towel; let rise in warm place until doubled in size, about 1 hour.

Bake for 25-30 minutes or until the rolls are golden brown.  Cool on a wire rack for at least 20 minutes. 

Make the glaze.  While the rolls are baking, combine the powdered sugar, butter and orange juice (start with 2 tablespoons orange juice and add more if needed) in a medium bowl and beat with an electric mixer until creamy. Drizzle over the cinnamon rolls and serve immediately.