In a small bowl, combine warm water, 2 tablespoons of sugar, and the yeast and allow to proof until foamy, about five minutes. Meanwhile, scald the milk and stir in the other 2 tablespoons of sugar and the salt.
Beat eggs in a small bowl, then slowly add the scalded milk while stirring to temper the egg. Combine with yeast mixture when the milk has cooled a bit.
In the bowl of a stand mixer with a paddle attachment, combine the milk and yeast mixture with 2 cups of the flour and the orange zest and mix for 2 minutes, until smooth. Switch to the dough hook and continue adding flour, 1 cup at a time, kneading until a smooth, soft dough is formed, about 5 minutes. Transfer the dough to a large greased bowl and cover tightly with plastic wrap.
Let the dough rise for one hour or until doubled in size. Divide dough in half, then roll out one half of the dough into a 12x7-inch rectangle. Cut into 12 1-inch strips and dip each strip in melted butter. Shape into knots and place on a baking sheet. Repeat with the other half of the dough, then let rolls rise 15-30 minutes.
Bake at 400 degrees for 8-10 minutes or until lightly browned on top.
Make glaze by combining ingredients and whisking until smooth. Brush glaze on each roll with a pastry brush.