Thaw rolls until thawed but not risen.  You can pop the bag in the fridge overnight, or place rolls on a baking sheet at room temp.  Mine took about an hour to thaw.  

While thawing, mix sugar and orange zest in a shallow bowl with a fork until sugar becomes a pale orange color.  Take each dough ball and gently stretch to about a 6-inch rope.  Dip rope in butter and then roll in sugar mixture.  Then tie in a simple knot and place on baking sheet.  Let dough rise until about double- they should be nice and plump.  Bake in a pre-heated 350 degree oven until browned, about 20 minutes or so.  When they are just about done, whisk glaze ingredients until smooth.  Let rolls cool until just warm before drizzling on glaze.  Rolls will be sitting in a very delicious mixture of gooey sugar (think of the bottom of the cinnamon roll pan, but orange flavor) so you might want to transfer rolls to serving plate before that hardens.