Preheat the oven to 350ºF.
In a medium bowl, combine the La Lechera Sweetened Condensed Milk, orange juice, and orange zest. Set aside.
Next, spray a baking dish with nonstick cooking spray and arrange the cinnamon rolls with space between each roll. Pour the orange mixture over the cinnamon rolls, making sure to fill in the gaps between the rolls.
Bake the cinnamon rolls for about 25-30 minutes, until they’re golden brown and cooked through.
Remove the cinnamon rolls from the oven and top with the included icing, or use the homemade cream cheese icing if desired. Serve warm.