INGREDIENTS
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1 package dry yeast (about 2 1/4 teaspoons)
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3 tablespoons warm water (100° to 110°)
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10.13 ounces plus 3 tablespoons white whole-wheat flour (about 2 1/4 cups plus 3 tablespoons)
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1/2 teaspoon salt
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1/4 cup granulated sugar
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1/4 cup 2% reduced-fat milk
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1 1/4 teaspoons vanilla extract, divided
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1 large egg
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1 large egg yolk
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1/4 cup unsalted butter, softened
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Cooking spray
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1/3 cup packed brown sugar
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1 tablespoon grated orange rind, divided
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1 teaspoon ground cinnamon
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3/4 cup powdered sugar
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2 to 3 teaspoons fresh orange juice