In a small saucepan, combine the milk, the butter, orange peel and smashed cardamom pods. Set over medium heat to melt the butter. Once the milk starts to bubble at the edges (about 130º F), remove from the heat and allow to steep for 30 minutes.
In a large bowl of a stand mixer, combine the flour, yeast, and sugar. Whisk until well-blended. Return the milk and butter mixture to the heat and heat back to 115º - 125ºF. Strain out the orange peel and cardamom.
Fit the mixer with the dough hook. With the mixer on medium-low speed, slowly pour the warm milk mixture into the flour mixture, and add the egg and salt. Mix until the flour is completely incorporated. Increase the speed to medium-high and beat until the dough is smooth and elastic, and pulls away from the bottom of the bowl, about 5 minutes. If the dough begins to climb the hook, stop the mixer and scrape the dough back into the bowl. Repeat as needed. Don't venture too far away while the dough is mixing, as the mixer might dance around on the counter because of the large amount of dough.
Scoop up the dough and shape into a ball. Lightly grease the bowl and pop the dough back into it. cover the top securely with plastic wrap, and place in a warm spot of the kitchen free of any drafts. Let rise until the dough has nearly doubled in size, 45 - 50 minutes.