Dissolve the sugar into the warmed milk and then sprinkle the yeast on top. Let proof for 5 minutes.

Meanwhile, combine the orange juice, egg, butter, salt, orange zest and flour into the bowl of a stand mixer with the dough hook attached. Once the yeast has proofed, add it to the bowl.

Mix on medium speed for 5-8 minutes, until a soft and pliable dough has formed.

Lightly oil a large bowl. Place the dough in the bowl, turn it over to coat. Cover it and allow it to rise in a warm place for 1 hour or until it has doubled in size.

On a lightly floured surface, roll out the dough into a 12x18 rectangle.

Combine the sugar, cinnamon and orange zest together in a bowl. Spread over all of the dough, from edge to edge. Spread the cranberry sauce over the dough, leaving a 1-inch border from the ends of the dough.

Roll up the dough lengthwise and cut into 12 evenly sized rolls. Place into a 9x13 or larger baking dish. Cover and let rise for 1 hour.

Preheat the oven to 350 degrees. Bake cinnamon rolls for 25 minutes or until they're lightly golden. Remove from the oven and let cool.

Combine cream cheese and butter together in a bowl and beat until smooth. Add in the powdered sugar and beat until fully incorporated. Add in the orange juice and mix until combined.

Spread over the slightly cooled sweet rolls.