Mix milk, orange juice, yeast, sugar, salt, butter, and eggs in a stand mixer. Add flour and mix on low speed. Increase speed to medium, adding more or less until dough reaches desired consistency. Transfer to a lightly greased bowl, cover, and let rise for 1 hour.
Grease a 9x13 pan and roll dough into a rectangle. In a bowl, mix butter, sugar, and orange zest. Roll dough tightly and cut into 12 slices. Place in pan, cover, and let rise 30 to 45 minutes. Preheat oven to 350 degrees and bake for 20-25 minutes until golden brown.
Create a soft cream cheese glaze by whipping cream cheese, butter, powdered sugar, orange extract, and juice. Frost orange rolls while baking, serve warm or cool, and store for up to 4-5 days.