Spray a muffin tin with cooking spray and set aside.
In a large mixing bowl, combine warm water and sugar and yeast. Add in oil, salt, egg and flour and stir until dough forms.
On a floured surface, roll dough out into a rectangle. In a small bowl, combine 6 Tbsp. butter, 3 Tbsp. Truvia or sugar, and zest from an orange. Spread evenly over rolled out dough. Roll into one long roll. Cut into about 1 to 1 1/2 inch sections (you should get 12-14 rolls from this) Place each roll into the prepared muffin tin. Let rise for 15 minutes.
Preheat oven to 375º F. In a small bowl, combine 1 Tbsp. butter, powdered sugar, milk, lemon zest and juice.
Place rolls in the oven and bake for about 15 minutes, until lightly golden. Drizzle with lemon glaze and ENJOY!