• Activate the yeast. In a small mixing bowl, combine warm water, yeast, and 1 tablespoon sugar. Stir until the yeast is dissolved. Let stand for 5 minutes or until foamy.
• Melt the butter. In a small saucepan, melt the butter, then add milk and heat to lukewarm.
• Make the dough. In a large mixing bowl, combine the yeast mixture with 2 tablespoons of sugar, the butter mixture, 2 cups of flour, and salt. Stir together with a wooden spoon until well combined. Gradually stir in the remaining flour until the dough is sticky. You may need to add a bit more flour to make a sticky dough.
• Knead. Butter a large bowl and set aside. On a lightly floured work area, knead dough until smooth and elastic; about 10 minutes. To keep the dough from sticking, add more flour as needed. Form dough into a ball and transfer it to the buttered bowl, turning to coat.
• Rise. Cover the bowl with plastic wrap and let the dough rise at room temperature until it's doubled in size, about 1 hour.
• Prep. Preheat oven to 400 degrees Fahrenheit. Lightly grease 3 muffin tins and set aside.
• Shape the rolls. Transfer dough to a lightly floured surface. Pinch off tablespoon-sized pieces of dough and form the pieces into balls. Put 2 balls into each muffin cup, one next to the other.
• Rest. Cover loosely with a kitchen towel and let the rolls rise for 35 to 40 minutes, or until they're again doubled in size.
• Bake the rolls. Remove towel and bake for 15 to 20 minutes or until golden.

For the Glaze

• Combine the ingredients. Combine orange juice, sugar, and butter in a small saucepan. Bring the glaze mixture to a boil.
• Simmer. Continue to boil at a steady pace for 10 minutes, or until the glaze has thickened.
• Coat the rolls. Remove the saucepan from the heat and brush the glaze over the warm dinner rolls.