Combine 3 cups flour, sugar, yeast, and salt. Stir in warm milk, melted butter, eggs, yolk, and vanilla until a shaggy dough forms. Knead on a floured surface for 7 to 8 minutes, adding remaining flour as needed, until smooth and elastic.

Place dough in a buttered bowl, cover, and let rise in a warm spot until doubled, about 1 hour. While it rises, soak cranberries in orange juice.

Roll dough to a 12x16-inch rectangle. Spread with a thin layer of melted butter, then sprinkle brown sugar, cinnamon, cardamom, nutmeg, drained cranberries, and half the orange zest evenly over the surface. Roll up tightly from a long side, pinch seam and ends.

Cut into 12 even slices and arrange in a buttered 9x13-inch pan. For same-day baking, let rise until puffed, about 30 minutes. Refrigerate overnight if making ahead.

Preheat oven to 350°F. Bake for 20 to 25 minutes until golden brown and set in the center.

Beat cream cheese, butter, powdered sugar, and milk until smooth. Stir in remaining orange zest. Spread frosting over warm rolls and serve immediately.