Combine the first 5 ingredients in a 2-cup glass measure. Microwave at High for 3 minutes. Cool 5 minutes. Lightly spoon flour into dry measurung cups; level with a knife. Follow manufacturer's instructions for placing milk mixture, flour, yeast and egg into bread machine pan and select the dough cycle; start.
Remove dough from machine (do not bake). Turn the dough out onto a floured surface, and knead 30 seconds. Cover dough; let rest 10 minutes. Divide the dough into 24 equal portions; shaping each into a ball (cover remaining dough to keep from drying). Combine 1/2 cup granulated sugar and rind. Dip each ball into 1/4 cup melted butter, and roll in sugar mixture. Place balls in bottom of a 10-inch tube pan coated with cooking spray. Cover and let rise in a warm place (85 degrees), free fro drafts, 45 minutes or until doubled in size.
Preheat oven to 350 degrees F.
Bake at 350 degrees for 35 minutes. Cool in pan on a wire rack for 5 minutes; remove from pan. Cool bread 15 minutes on wire rack.
Combine 1/2 cup powdered sugar and orange juice. Drizzle mixture over loaf, and serve warm.
serving size" 1 roll 161 cal, 4.7 g fat, 3.6 g pro, 26.2 g carb, 20 mg chol, 145 mg sod.