In a small bowl, combine yeast, sugar, and 1/4 cup warm milk. Let sit for 5-10 minutes.

In a large bowl (or your stand mixer) combine 2 ½ cups flour, cinnamon, salt, egg, butter, yeast mixture, and milk. Begin mixing adding in additional flour as needed. You want your dough to be able to pull away from the bowl.

Knead the dough for 5-10 minutes, until the dough passes the windowpane test.

Place dough in an oiled bowl, cover, and let rise for about an hour (or until doubled in size).

Pour dough onto a lightly floured counter and roll into an 18" long rectangle.

Spread cranberry sauce and brown sugar over the dough.

Roll the dough into a log and cut into 1.5" slices, place onto a baking sheet.

Cover the dough lightly with a clean cloth and let rise for an additional hour.

Preheat oven to 350.

Remove cloth and bake the cinnamon rolls for 20-25 minutes.

While the rolls bake combine the glaze ingredients and mix until smooth. Adding additional orange juice to get the desired consistency. Once the rolls have cooled slightly drizzle the glaze over top.