Dough: Sprinkle yeast over warm water. Add 1 tsp sugar and stir to combine. Let sit for 5-7 minutes to allow mixture to bubble and activate.
In the bowl of a stand mixer, whisk together yeast mixture, remaining 1/4 cup sugar, milk, egg and yolk. Whisk salt into flour. Add 2 cups of flour to mixing bowl. Use the hook attachment to mix dough together. Mix on low speed until flour is incorporated. Add another 1 cup of flour. Continue to knead on low speed, adding softened butter 1 Tbsp at a time. Add remaining cup of flour and knead until the dough is smooth and cleans the sides of the bowl. If dough is too sticky, add additional flour 1 Tbsp at a time until desired consistency is achieved.
Transfer dough to a lightly greased bowl. Cover with plastic wrap and let dough rest at room temperature for about an hour until dough has doubled in volume.
Punch down risen dough. Transfer to a lightly floured working surface. Roll dough into a 20 x 14 inch rectangle. Spread softened butter over dough.
Cinnamon Sugar Filling: In a bowl, mix together sugar, brown sugar and cinnamon. Distribute cinnamon sugar filling and gently press into dough. Sprinkle sea salt.
Roll dough into a tight log, starting at the longest side. Slice the log into 12 equal parts. Lightly grease 9 x 12-inch baking pan. Cover pan with plastic wrap and let rolls rest for 30-45 minutes at room temperature to allow rolls to rise.
Preheat oven to 350 degrees F. Remove plastic wrap and bake rolls for 30-35 minutes until golden brown on top and the internal temperature of the rolls hit 185 degrees F. Allow rolls to rest for 5 minutes to slightly cool.
Simple Glaze: In bowl, combine powdered sugar, milk, vanilla, orange zest and sea salt. Mix until smooth. If glaze is too thick, add additional milk 1/2 tablespoon at a time. Spread over warm rolls and serve immediately.