Last year I had 3 Asclepias curassavicas and because I live in the toasty state of Texas, all came back this year. Plus all of them set pods. One of the 3 was labeled Asclepias curassavica 'Silky Gold' and, true to its name, the flower was definitely a yellow gold.
I think your plant with the orange flowers is Butterfly Weed (Asclepias tuberosa), as others have said.
This year I thought I heard a pied piper calling me to one of my favorite garden centers where I caved and bought some A. Incarnata (Swamp Milkweed) and A. Asperula (Antelope Horns). In the spring I went to a plant sale and bought A. verticillata (whorled milkweed). I think 1 of the last 2 is mislabeled or maybe I bought another one. I don't know. I have no memory. But yours is more than likely Butterfly Weed.
Whichever one you have, be happy that you have it. You have a pretty plant and even better, you are helping butterflies. Enjoy.
