Activate the Yeast: In a small bowl, combine the yeast and warm water. Stir gently and let it sit for about 5 minutes until frothy.

Prepare the Dough: In a large mixing bowl, combine orange juice, grated orange peel, sugar, beaten egg, and yeast mixture. Mix well. Gradually add flour, melted butter, and salt. Stir until a soft dough forms. Knead the dough on a lightly floured surface for 5–7 minutes until smooth and elastic. Cover the dough with a clean kitchen towel and let it rise in a warm place for 45 minutes to 1 hour, or until doubled in size.

Assemble the Rolls: Roll the dough out into a 12x18-inch rectangle on a floured surface. Spread the cherry pie filling evenly over the dough, leaving a 1-inch border around the edges. Roll the dough tightly from the long side into a log. Slice the log into 12 equal pieces.

Bake the Rolls: Place the rolls in a greased 9x13-inch baking dish. Cover and let them rise for 20 minutes. Preheat the oven to 375°F. Bake for 20–25 minutes or until golden brown.

Prepare the Icing: In a small bowl, whisk together powdered sugar and milk until smooth. Adjust the consistency by adding milk 1/2 teaspoon at a time if needed.

Serve: Drizzle the icing over the warm rolls and serve immediately.