In a large mixing bowl, combine warm milk, sugar, and yeast. Allow to sit for 5-10 minutes until frothy.

Add melted butter, eggs, flour, and salt to the yeast mixture. Mix until a dough forms and knead for 8 minutes.

Place kneaded dough in a greased bowl, cover, and let rise in a warm area for 1-1½ hours until doubled.

Punch down the risen dough, roll into a 16x12 inch rectangle, spread with softened butter, sprinkle brown sugar, cinnamon, and cranberries.

Roll dough tightly from one long edge to form a log. Cut into 12 equal pieces and arrange in a greased baking dish.

Cover rolls and let them rise for another 30-45 minutes until puffy.

Preheat oven to 350°F (175°C) and bake rolls for 22-25 minutes until golden brown.

Whisk together powdered sugar, orange juice, zest, and salt for the icing while rolls are baking.

Drizzle icing over warm rolls before serving.