The developmental partnership will see the two sides share knowledge, players, coaches and facilities when required. Both clubs will also promote the other's brands at their home grounds.
A joint marketing campaign will also be released at a later date.
Additionally, Orlando head coach Adrian Heath, left-back Brek Shea, 'B' team head coach Anthony Pulis and captain Lewis Neal have all previously played for the Staffordshire-based team.
"It was always clear that we could have a great relationship," said Rawlins, who also serves as Orlando City president.
"It came down to us wanting to reignite that synergy and bring our clubs closer together.
"This will be our partnership in England, and we hope to ignite passions for both our clubs in each other's markets."