Sweet Orange Cinnamon Pull-Apart Bread. {Video!}

all-purpose flour 2 tablespoons sugar 2 1/4 teaspoons active dry yeast 1/3 cup milk (whole or 2%) 1/4 cup unsalted butter 1/4 cup water 2 teaspoons vanilla extract 1/4 teaspoon salt 2 large eggs 2 tablespoons freshly grated orange zest

filling 6 tablespoons unsalted butter 1/2 cup sugar 1 1/2 teaspoons cinnamon 3 tablespoons freshly grated orange zest

orange icing 2 cups powdered sugar 1/4 cup fresh orange juice 1 tablespoons orange zest 1 teaspoon vanilla extract