Combine first three ingredients in the bowl of an electric mixer and let sit until frothy.
Add the ingredients through the yogurt to the bowl, leaving the flour until last. Add that 1/2 cup at a time until the dough forms a ball and is still pliable.
Knead the dough for a good five minutes, adding flour as necessary.
Let dough sit for 30 minutes and then roll it into a rectangle of about 20 inches by 12.
Whip the butter and flour in the electric mixer until light and then spread the mixture down the middle of the dough.
Fold the dough from the long sides in so that the butter is covered and the folds overlap.
Refrigerate dough for 30 minutes. Roll out dough to a 20 by 12 rectangle, and incorporate butter. Refold and refrigerate again. Do this four times to completely incorporate butter throughout the dough. Refrigerate overnight.
Make a crumble with the brown sugar, flour, butter and cinnamon.
After bringing dough to room temperature, roll it out to 1/4 inch thick rectangle. Cut into 12 1 1/2 inch wide strips. Roll the strips in the crumble. Twist and form a horseshoe. Place on an ungreased jelly roll pan. Do this with all the strips. Let the Tippies rest in a warm spot covered by a clean kitchen towel until doubled in size.
Bake at 350 for 20 minutes or until lightly golden.
Make a glaze with the powdered sugar, milk and orange juice.
Remove from oven. Drizzle with glaze and serve.