Dissolve yeast in warm water in a large mixing bowl; let stand 5 minutes
Add 3 cups flour, sugar, salt, orange rind, butter, and eggs; beat at low speed of an electric mixer until blended. Beat 4 minutes at medium speed. Add 1 1/2 cups flour; beat at low speed until blended.
Cover and let rise in a warm place (85degrees) free from drafts, 1 1/2 to 2 hours or until doubled in bulk. Cover and refrigerate at least 8 hours.
Combine almond paste, butter, brown sugar, and chopped almonds; stir until blended. Set aside.
Punch dough down, divide dough in half, refrigerate the other portion. Roll dough to a 16 in x 10 inch rectangle. Spread the dough with half of the almond mixture. Fold the dough lengthwise into thirds.,forming a long rectangle. Cut rectangle into sixteen 1 inch strips. Twist each strip and place on a lightly greased baking sheet. Repeat with remaining dough and filling.
Cover and let rise in a warm place 1 1/2 hours or until doubled in bulk. Bake at 350 degrees for 15 minutes or until golden brown. Transfer to wire racks and let cool
Combine powdered sugar and milk, stirring until smooth. Drizzle over warm rolls.