Combine the milk, oil, and sugar in a large pot (I used a Dutch oven) and place over medium heat until just before boiling. Turn off the heat and let the mixture cool until just warm to the touch, about 105-110 degrees F.
Sprinkle the yeast over the top of the milk mixture and let sit for 1-2 minutes. Add 4 cups of the flour and stir with a wooden spoon until an evenly combined dough has formed.
Cover and let sit on the stove (with the oven on if your kitchen is cold) to rise for about 1 hour. Check after 30 minutes to make sure it is rising. If it's not, your yeast might not be active and you may have to start over. By the end of the hour, it should have doubled in size and smell yeasty.
Add the remaining 1/2 cup flour along with the baking powder, baking soda, and salt, and stir until completely combined.
Divide the dough in half and roll one half out on a floured surface to about a 12x8 inch rectangle. Spread half the cranberry sauce (mixed with cornstarch if your sauce is liquidy) over the dough, leaving about an inch around the edges uncovered.
Starting with the long edge farthest from you, roll the dough towards you, moving your fingers evenly back and forth along the dough, until it is tightly coiled with seam down. Cut into 8 even rolls with a bench scraper or sharp knife, and place in a greased pie plate or 9-inch round cake pan.
Repeat steps 5 and 6 with the second half of the dough.
IF BAKING IMMEDIATELY:
Preheat oven to 375 degrees F. Let the rolls rest on top of the oven for 15-20 minutes, until slightly risen. Bake for 22-24 minutes, until golden brown. Make the glaze while the rolls are baking.
Once the rolls are shaped and in the pans, cover with plastic wrap and place in the refrigerator overnight. In the morning, take the rolls out and allow them to sit at room temperature for 30 minutes while you preheat your oven to 375 degrees F. Bake for about 24-25 minutes, until golden brown. Make the glaze while the rolls are baking.
For the Vanilla Orange Glaze:
Whisk together powdered sugar, vanilla paste or extract, and orange juice, 1 tablespoon at a time, until the mixture reaches a pourable, but still thick, consistency.
Pour the glaze evenly over the warm cinnamon rolls in the pan. Serve warm with coffee and lots of love and laughter!