Bacon Monkey Bread with Orange Glaze

Name: Bacon Monkey Bread with Orange Glaze
Ingredients: 3/4 cup milk; 4 tablespoons unsalted butter, cut into pieces; 1/4 cup granulated sugar; 1/4 cup warm water (about 110 degrees F); 1 1/4 teaspoons active dry yeast (about half of a 1/4-ounce package); 2 large eggs, lightly beaten; 3/4 teaspoon kosher salt; 3 1/2 cups all-purpose flour, plus more for dusting (see Cook's Note); Nonstick cooking spray; 6 slices bacon (about 4 ounces); 1 1/2 sticks (12 tablespoons) unsalted butter, softened; 1/4 cup light brown sugar; 1 cup granulated sugar; 1 tablespoon ground cinnamon; Finely grated zest of 1 orange (about 1 tablespoon); 1 cup confectioners' sugar; 4 teaspoons milk; 1 teaspoon orange juice; 1 teaspoon orange zest