Prepare hot roll dough according to package directions.
Divide dough into 2 equal portions. Roll 1 portion of dough into a 12- x 8-inch rectangle on a lightly floured surface. Spread with 2 tablespoons butter.
Stir together granulated sugar and grated rinds; sprinkle half of sugar mixture evenly over butter on rectangle. Roll up rectangle, jelly-roll fashion, starting at a long edge. Repeat procedure with remaining half of dough, 2 tablespoons butter, and remaining half of sugar mixture.
Cut each roll into 1/2-inch-thick slices, and place in lightly greased miniature muffin pans.
Cover and let rise in a warm place (85°), free from drafts, 20 minutes.
Bake at 375° for 8 to 10 minutes or until golden. Remove from pans, and place on wire racks.
Stir together powdered sugar and orange juice until smooth; spoon evenly over tops of rolls.
Note: For testing purposes only, we used Pillsbury Hot Roll Mix. Look for it in the cake mix section of your grocery store.