Nope, not for these orcs... they are overconfident and not really paying attention. If you want to sneak into the room you do, and they are at a Disadvantage on their Passive Perceptions (so you need to beat a 4).
You can get to within 12ft and the orcs will be Surprised. I don't have my 5th ed. book here with me so I don't remember if surprised targets can act when they are surprised (like 3rd ed/Pathfinder Surprise Round)
No, orcs still roll initiative. They just can't act on their turn (lose it, essentially ). There's no surprise round anymore. Once their turn is past, they can take reactions.