Preheat oven to 350°.
. Remove dough from package, place on a lightly floured work surface, and carefully unroll dough.
. Brush butter evenly over dough; sprinkle with brown sugar, cinnamon, and orange rind. Starting with a long edge, roll up, jelly-roll fashion; pinch seam to seal (do not seal ends of roll). Using a serrated knife, cut roll evenly into 12 slices. Place slices, cut sides down, in an 8-inch square baking pan coated with cooking spray.
. Bake at 350° for 27 minutes or until tops are lightly browned. Place a plate upside down on top of pan; invert onto plate.
. Combine powdered sugar, orange juice, and vanilla in a small bowl; drizzle over rolls.