In a small mixing bowl, combine warm water, yeast and 1 tablespoon sugar; stir until yeast is dissolved.
Let stand 5 minutes, or until foamy.
In a small saucepan, melt butter; add milk and heat to lukewarm.
In a large mixing bowl, combine yeast mixture, 2 tablespoons sugar, butter mixture, 2 cups flour, and salt; stir together with a wooden spoon until well combined.
Gradually stir in remaining flour; stir until dough is sticky. You may need to add a bit more flour to make a sticky dough.
Butter a large bowl and set aside.
On a lightly floured work area, knead dough until smooth and elastic; about 10 minutes.
To keep dough from sticking, add more flour as needed.
Form dough into a ball and transfer to buttered bowl, turning to coat.
Cover bowl with plastic wrap and let dough rise at room temperature until doubled; about 1 hour.
Preheat oven to 400 degrees Fahrenheit
Lightly grease 3 muffin tins and set aside.
Transfer dough to a lightly floured surface.
Pinch off tablespoon pieces of dough and form pieces into balls.
Put 2 balls into each muffin cup, one next to another.
Cover loosely with kitchen towel and let rolls rise for 35 to 40 minutes, or until doubled in size.
Remove towel and bake for 15 to 20 minutes, or until golden.
Remove from oven and brush with prepared orange glaze.
TO MAKE THE GLAZE
Combine orange juice, sugar and butter in a small saucepan; bring to a boil.
Continue to boil at a steady pace for 10 minutes, or until thickened.
Remove from heat and brush over dinner rolls.