Activate the yeast by combining warm milk, granulated sugar, and active dry yeast in a small bowl. Stir gently and let sit for 5-10 minutes until frothy.

In a large mixing bowl, combine the activated yeast mixture with melted butter, beaten eggs, orange zest, vanilla extract, and remaining sugar. Gradually add flour and salt until a soft dough forms.

Transfer to a floured surface and knead for 5-7 minutes until smooth and elastic.

Place the dough in a greased bowl, cover, and let rise in a warm area for 1-2 hours or until doubled in size.

Punch down the risen dough, divide into three pieces, and braid them together. Place in a greased loaf pan.

Cover and let the braided dough rise again for 30-60 minutes until doubled.

Preheat the oven to 350°F. Bake the bread for 25-30 minutes or until golden brown and hollow-sounding.

Let the bread cool in the pan for 10 minutes, then transfer to a wire rack. Whisk together powdered sugar and milk for the glaze and drizzle over the bread. Add sprinkles.