Gently heat the whole milk, vegetable oil, and granulated sugar until warm, but not boiling. Remove from heat, sprinkle in active dry yeast, and let sit for 1 minute until bubbles form.

In a large bowl, combine all-purpose flour and salt. Gradually add the yeast mixture and stir until just combined. Cover and let rise for about 1 hour.

Fold in baking powder and baking soda into the risen dough, then knead lightly on a floured surface for 1-2 minutes.

Roll the dough into a large rectangle. Brush with melted butter, then sprinkle with sugar, cinnamon, orange zest, pistachios, and dark chocolate. Roll tightly.

Cut the rolled dough into 12 even pieces and place in a greased baking dish. Cover and let rest for about 15 minutes.

Preheat the oven to 375°F (190°C) and bake the rolls for 20-22 minutes until golden brown.

Prepare the glaze by whisking powdered sugar with milk or water. Once the rolls cool slightly, drizzle glaze over them and serve.