In a large bowl, combine the flour, sugar, yeast, cinnamon, and cloves. Set aside.
In a microwave-safe bowl, heat the milk for about 1 minute until warm but not hot (approximately 120 to 130 degrees Fahrenheit). Melt the butter and allow it to cool slightly.
Add the warm milk, melted butter, salt and orange zest to the dry ingredients. Using a mixer with a dough hook attachment, beat on low speed for 10 minutes until the dough is smooth. The dough will be slightly sticky.
Grease your hands or sprinkle a teaspoon of flour onto a clean surface to prevent the dough from sticking. Knead the dough into a ball and let it rise in a greased bowl for 1 hour or until doubled in size.
Divide the dough into 6 equal pieces and shape them into balls. Place the balls in a greased baking pan, cover with a towel, and let them rise for 45 minutes or until almost doubled in size.
Preheat your oven to 350 degrees Fahrenheit.