Cinnamon-Orange Rolls

Cinnamon-Orange Rolls was pinched from <a href="http://www.myrecipes.com/recipe/cinnamon-orange-rolls" target="_blank">www.myrecipes.com.</a>
INGREDIENTS
1 package dry yeast (about 2 1/4 teaspoons)
3 tablespoons warm water (100° to 110°)
10.13 ounces plus 3 tablespoons white whole-wheat flour (about 2 1/4 cups plus 3 tablespoons)
1/2 teaspoon salt
1/4 cup granulated sugar
1/4 cup 2% reduced-fat milk
1 1/4 teaspoons vanilla extract, divided
1 large egg
1 large egg yolk
1/4 cup unsalted butter, softened
Cooking spray
1/3 cup packed brown sugar
1 tablespoon grated orange rind, divided
1 teaspoon ground cinnamon
3/4 cup powdered sugar
2 to 3 teaspoons fresh orange juice
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