In a large bowl, dissolve yeast in warm water. Add the warm milk, butter, egg yolks, sugar, salt and 5 cups flour. Beat until smooth. Stir in enough remaining flour to form a soft dough (dough will be sticky).
Turn onto a floured surface; knead until smooth and elastic, about 6-8 minutes. Place in a greased bowl, turning once to grease the top. Cover and let rise in a warm place until doubled, about 1 hour.
Punch dough down. Divide dough in half. On a lightly floured surface, roll each half into a 15x12-in. rectangle. In a small bowl, combine filling ingredients; spread over each rectangle to within 1/2 in. of edges. Roll up jelly-roll style, starting with a long side; pinch seams to seal. Cut into 1-in. slices.
Place rolls, cut side down, in two greased 13x9-in. baking pans. Cover and let rise in a warm place until doubled, about 30 minutes. Bake at 375° for 18-22 minutes or until golden brown. Cool in pans for 5 minutes before inverting onto serving plates.
Combine the confectioner's sugar, pecans, orange juice and zest until blended. Spoon over warm rolls.