In a large mixer bowl, combine 1-1/2 cups flour, yeast, sugar, salt, orange peel, cinnamon and raisins; mix well. In saucepan, heat orange juice, milk and butter until warm (120 - 130 °F; butter does not need to melt). Add to flour mixture. Add egg. Blend at low speed until moistened; beat 3 minutes at medium speed. By hand, gradually stir in enough remaining flour to make a soft dough. Knead on floured surface until smooth and elastic, about 5 minutes. Place in greased bowl, turning to grease top. Cover; let rise in warm place until light and double, about 1-1/2 hour.
Punch down dough. On lightly floured surface, roll to a 9 x 18-inch rectangle. Brush with melted butter; combine sugar and cinnamon and sprinkle over dough. Starting with longer side, roll up; pinch edges and ends to seal. Cut into 1-inch slices. Place slices, cut-side down, 1-inch apart on greased cookie sheets. Cover; let rise in warm place until double, about 30 minutes. Bake at 350 °F. for 20 to 25 minutes. Cool on racks. Combine glaze ingredients and pour over warm rolls.