Place frozen rolls in a greased 9 x 13 inch baking dish.
Cover with greased plastic wrap and let thaw according to package directions. (This usually takes 4 to 5 hours depending on the temperature in your kitchen.
When ready, preheat oven to 350° F.
Pour melted butter evenly over the tops of thawed rolls.
In a small bowl, mix together the orange zest and sugar.
Pour sugar mixture evenly over the buttery tops of rolls
Bake, uncovered, 18 to 20 minutes.
Remove from oven and let stand 10 minutes before glazing.
For the glaze:
While rolls are baking, whisk together all the glaze ingredients in a small bowl.