Add crepe ingredients to a blender in the following order: milk, orange juice, eggs, melted butter, vanilla, flour, sugar, orange zest, and salt. Blend until smooth, 15 to 20 seconds.
Refrigerate batter for at least 30 minutes, up to overnight.
Preheat a nonstick 8-inch pan over medium heat. Add 1/4 cup batter to the hot pan. Immediately move the pan from side to side to form batter into an even circle. Cook for 1 to 2 minutes per side. Remove to a plate and repeat to cook remaining crepes.
Whip cream and sugar for filling with an electric mixer until stiff peaks form. Add instant pudding mix and blend until well combined. Mix in drained pineapple.
Assemble cake by placing one crepe on a serving plate. Use a spoon to spread 1 tablespoon filling into a thin layer over the crepe. Continue layers with remaining crepes and filling.