Add room temperature butter, ½ cup sugar, 2 egg yolks, salt, and cardamom. Beat until combined, then mix in 2 ½ cups of flour until well uniform and dough is smooth and elastic, 3-5 minutes. Place in well oiled bowl, cover, and let double in size 1-2 hours. (warmer spaces will rise faster)
Push dough down to release excess gas, cover and let rise again, about 1 hour.
With the remaining ½ cup of flour, lightly flour your work surface. Cut the dough in half and with a rolling pin roll out into a rectangle approx. 9x18 inches.(I find it is easier to half the dough and roll into two sections, but you can absolutely roll it out into a single log if desired) Use 1 Tbsp of the melted butter to coat your dough leaving a ¼ inch border along the bottom seam. Sprinkle ½ of the vanilla bean sugar, cardamom, orange zest, and almonds onto dough and gently press to adhere to butter.
Starting at the top of the dough, evenly roll down towards the bottom with slight pressure to keep the dough tightly rolled. (if needed a tiny bit of water along the bottom edge will help the dough adhere to itself. Repeat with other half of dough
Cut dough into even sections and place them along a cookie sheet lined with parchment, 1" apart to avoid overcrowding..
Cover and let rest 1 more hour until double in size.
Brush rolls with remaining egg yolk stirred into 2 tbsp milk.
Bake at 350 for 22-25 minutes, rotating pan halfway through bake.