In a small container add warm water, yeast, and 1 tablespoon white sugar. Let sit for 10 minutes.
Preheat oven to 150 degrees.
In mixer add flour, milk, softened butter, salt, egg, and 5 Tablespoons of sugar.
After yeast mixture has sat for 10 minutes add to other ingredients that are in the mixer and "knead" with dough hook for 10 minutes.
Turn oven off and place dough in oven to proof for 30 minutes. I typically use my stainless steel mixer bowl for this part. Cover the top of the bowl with a towel.
Once complete roll dough out on a lightly floured surface into large rectangle.
Preheat oven again to 150 degrees.
Evenly spread filling on the dough.
Roll the dough up into a long log, then cut into 12 equal pieces with a stainless steel scraper.
Place rolls onto a greased Jelly Roll Pan.
Turn the oven off and place the pan in the oven with a towel loosely covering the orange rolls.
Leave in the warm oven for 30 minutes.
Carefully remove rolls from the oven while you preheat oven to 375 degrees.
Cook rolls for 13 minutes.
Frost and Enjoy!