Warm milk and butter to about 100° and add to a mixing bowl.
Add sugar and yeast, mixing until combined,
Beat eggs and mix in.
Add 3 cups of flour and kosher salt, mixing until combined.
Continue to mix, adding 1/4 cup of flour at a time until dough forms a ball and pulls away from the bowl.
Pour onto a floured surface and knead 3- 5 minutes, adding more flour as needed. Dough should no longer be sticky.
Butter or grease a large bowl. Add dough and cover with plastic wrap. Set aside in a warm place to rise for an hour or until doubled in size.
Punch down the dough and place on a floured surface. Roll to about 12 x 18 inch rectangle.
Spread pineapple preserves in a thin layer over dough.
Start with the long side and roll up, gently lifting the dough as you roll to keep the filling inside.
Pinch the seam to seal.
Use a serrated knife to cut the dough into 12 slices.
Place on a greased baking sheet about 2 inches apart.
Set aside to rise 30 minutes to one hour.
Preheat oven to 350°.
Bake for 17-20 minutes or until lightly browned and rolls are baked through.
Remove to a wire rack to cool slightly before icing,
Prepare the icing by adding cream cheese, butter, orange zest, vanilla extract, milk and powdered sugar.
Mix on low speed until combined. Raise to medium speed and beat about 2 minutes or until fluffy.
Spread over rolls and serve immediately.