01 - Combine warm milk (110°F) with yeast and a pinch of sugar in a large bowl. Let stand 5–10 minutes until mixture becomes foamy.
02 - Whisk melted butter, eggs, remaining sugar, and salt into yeast mixture. Gradually add flour, mixing until soft dough forms.
03 - Knead on lightly floured surface 8–10 minutes until smooth and elastic, or use stand mixer with dough hook 5–6 minutes.
04 - Place dough in greased bowl, cover, and rise in warm place 1–1.5 hours until doubled.
05 - Cream softened butter, sugar, lemon zest, and juice until smooth and spreadable.
06 - Punch down risen dough and roll into 16x12 inch rectangle on lightly floured surface.
07 - Spread lemon filling evenly over dough, leaving 1/2 inch border. Roll tightly from longer side and slice into 12 equal rolls.
08 - Arrange rolls in greased 9x13 inch baking dish. Cover and rise 30 minutes until puffy.
09 - Preheat oven to 350°F.
10 - Bake 23–27 minutes until golden brown and cooked through.
11 - Whisk powdered sugar with lemon juice until smooth. Adjust consistency as needed.
12 - Drizzle glaze over slightly cooled rolls. Garnish with extra lemon zest if desired.