Combine 1 cup flour, sugar, orange peel, undissolved yeast and salt in a large bowl. Heat milk, water, orange juice and butter until very warm (120° to 130°F). Gradually add to flour mixture. Beat 2 minutes at medium speed of electric mixer, scraping bowl occasionally. Add egg and 1 cup flour; beat 2 minutes at high speed. Stir in enough remaining flour to make a soft dough. Knead on lightly floured surface until smooth and elastic, about 8 to 10 minutes. Let dough rest 10 minutes.
Divide dough in half; roll each to 12 x 7-inch rectangle. Sprinkle evenly with Cinnamon Filling. Beginning at short end, roll up tightly as for jelly roll. Pinch seam and ends to seal. Place seam side down in 2 greased 8-1/2 x 4-1/2-inch loaf pans. Cover; let rise in warm, draft-free place until doubled in size, about 1 hour.
Bake at 350°F for 30 minutes or until done. Remove from pan; cool on wire rack. Drizzle with Orange Glaze.
Cinnamon Filling: Combine sugar and cinnamon in a small bowl. Stir to blend.
Orange Glaze: Combine powdered sugar, orange juice and orange peel in a small bowl. Stir until smooth.