In your mixer, dissolve yeast packet in warm water. If yeast is active, you will see blooming (movement and/ or bubbles) after a minute or so. Stir, then add remaining dough ingredients. Beat on low, scraping sides as needed for about 3 minutes, or until dough forms. Your dough should be pliable and not sticky. If dough is overly wet or sticky, add more flour in 1/4 cup increments.
Use dough hook on stand mixer or hands to knead. Knead on low-medium speed for 3 minutes If doing by hand- transfer dough to floured surface and knead for 5 minutes. After kneading, form a ball and transfer to an oiled bowl. Cover and let rise until doubled ( about 90 minutes).
Line a large baking sheet with parchment paper. Turn dough out on a floured surface. With a rolling pin, roll dough out evenly to a 10 x 16 rectangle. Make sure measurements are accurate. For Filling: spread softened butter evenly across dough rectangle then sprinkle with cinnamon and sugar. Roll lengthwise (tightly) and cut into 16 1 inch rolls. Place rolls in lined baking sheet, cover them and let them rise for about 45 minutes. *If you prefer to let them rise overnight, cover them with plastic wrap and place in fridge until the morning*
Preheat oven to 375. Cover your rolls with aluminum foil and bake for 25-27 mins, or until a light golden-brown color. Glaze and transfer to cooling rack. Glaze: just whisk all ingredients, adding an additional tbsp of OJ if you prefer a thinner consistency!