Whole oranges frozen do NOT work. I grew up in an citrus growing area, and the fruits being frozen due to weather ruined the crops, happened a few times growing up and the orange growers were devastated. Freezing causes them to become very mealy.
BUT, you can juice them and freeze the juice in ice cube trays, so you have small amounts to use in recipes, or in smoothies. Also you can zest them and save the zest in a airtight container. I made this stir fry that used a half cup of orange juice www.pbs.org/parents/kitchenexplorers/2012/
Also if you google "orange desserts" a ton of links will come up with dessert items you can make with orange juice and zest. I'm like you and I can't handle the acidity of oranges or full on juice, but I can handle it when it's mixed into a sauce or something.