Orange Cinnamon Rolls

1 loaf (1 pound) frozen bread dough, thawed

1/4 cup butter, softened

1/2 cup chopped pecans

1/4 cup sugar

1/4 cup packed brown sugar

1 tablespoon grated orange peel

1 teaspoon ground cinnamon

ICING:

1 cup confectioners' sugar

1 tablespoon butter, melted

1/2 teaspoon vanilla extract

2 to 3 tablespoons orange juice

On a lightly floured surface, roll dough into a 14-in. square. Spread with butter. In a small bowl, combine the pecans, sugar, brown sugar, orange peel and cinnamon. Sprinkle over dough to within 1/2 in. of edges. Roll up jelly-roll style; pinch seams to seal. Cut into 28 slices. Place cut side down in two greased 9-in. round baking pans. Cover and let rise in a warm place until doubled, about 40 minutes. Bake at 350° for 14-16 minutes or until golden brown. Combine the confectioners' sugar, butter, vanilla and enough orange juice to achieve desired consistency; drizzle over warm rolls.