1. Sprinkle yeast over milk in a small bowl. Add 1/2 teaspoon sugar. Let stand for 5 minutes until foamy. Combine melted butter, 1/4 cup sugar, salt, vanilla and egg yolk in a large bowl. Add yeast mixture. Stir in enough flour to make a soft dough.
2. Turn dough out onto a lightly floured surface and knead until smooth and elastic (6 to 8 minutes). Shape into a ball. Place in a greased bowl, turning once to coat. Cover, let rise in a warm, draft-free place until double, about 1 hour.
3. While dough is rising, prepare glaze. Combine raw sugar, butter, honey, orange zest and orange juice in a saucepan. Bring to a boil over medium heat, stirring until slightly thickened about 2 minutes. Divide glaze evenly between two greased 9-inch round pans.
4. Sprinkle with almonds. Punch dough down. Roll into 10 x 18-inch rectangle. Spread with softened butter. Combine cinnamon and sugar; sprinkle over buttered surface. Roll up tightly, sealing edges. Cut into 18 slices. Place slices atop orange glaze. Cover and let rise until doubled, about 1 hour.
5. Bake at 350°F for 25 to 35 minutes. Cool on wire rack for 5 minutes, invert pan on large plate and serve warm.

*To toast almonds, place nuts in a single layer in a baking pan. Bake at 325°F for 8 to 10 minutes until lightly browned.