Make the dough: in a bowl, of a stand mixer fitted with the dough hook attachment, combine 3 3/4 cups (450g) of the flour, plus the sugar and yeast.

In a glass measuring cup, combine the milk and butter. Microwave on high for About 2 minutes, until the butter is mostly melted and the milk is warm to the touch(110F. To 120F.) add the vanilla and salt and stir until the butter is fully melted. Pour the milk mixture into the flour mixture and add the egg.

Mix on low speed until the dough is smooth and tacky, about 15 Minutes, gradually adding the remaining 1/4 cup (30g) of flour a tablespoon at a time if the dough still sticks to your finger when touched. Turn out the dough onto a lightly floured surface and shape it into a ball. Place the dough in a lightly oiled bowl, turning to coat it in oil. Cover and let rise in a warm place until doubled in size, about 1 hour.

Make the filling: in a small bowl, combine the granulated sugar and orange zest. Rub the mixture with your fingers until the sugars is Fragrant and is pale orange in color. Stir in the brown sugar and cinnamon. Add the melted butter and stir until smooth.

Butter or spray a 9x13-inch baking dish with nonstick baking spray.

Punch down the risen dough and turn it out onto a lightly floured surface. Roll the dough into a 12x8-inch rectangle. Spread the sugar mixture onto a the dough, leaving a 1-inch border on one short side. Scatter the pecans evenly over the filling. Starting at the short end opposite the border, tightly roll up the dough and pinch the seam to seal. Cut the dough into twelve rolls(see tips & tricks) and place in the prepared baking dish, cut side down.

Cover and let rise in a warm place until noticeably puffed, about 45 minutes.

Preheat the oven to 350F.

Bake the rolls for 25 to 30 minutes, until the tops are golden brown. Let cool for 10 minutes.

Make the glaze: in a medium bowl, add the cream cheese, butter, and salt. Beat with an electric mixer on medium speed until smooth. Add the powdered sugar, zest, orange juice, and vanilla and beat on low speed until combined. Increase the mixer speed to high and beat until smooth and fluffy, about 2 minutes. Spread the glaze over the Hot rolls and serve warm. Any leftovers can be covered and stored at room temperature for 2 days.