Orange Cinnamon Rolls

"“I've been making this recipe from my grandmother for years-it's a favorite on Sunday mornings! The orange zest, juice and nuts give the rolls great flavor.” Donna Taylor - Southbridge, Massachusetts..."

INGREDIENTS
1 loaf (1 pound) frozen bread dough, thawed
1/4 cup butter, softened
1/2 cup chopped pecans
1/4 cup sugar
1/4 cup packed brown sugar
1 tablespoon grated orange zest
1 teaspoon ground cinnamon
ICING:
1 cup confectioners' sugar
1 tablespoon butter, melted
1/2 teaspoon vanilla extract
2 to 3 tablespoons orange juice
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