01 - Combine warm milk with yeast and a pinch of sugar in a large bowl. Let stand 5–10 minutes until foamy.
02 - Add melted butter, eggs, remaining sugar, and salt to yeast mixture. Mix well to combine.
03 - Gradually incorporate flour, mixing until a soft, workable dough forms.
04 - Knead on lightly floured surface for 8–10 minutes until elastic and smooth, or use stand mixer with dough hook for 5–6 minutes.
05 - Place dough in greased bowl, cover, and let rise in warm place for 1–1.5 hours until doubled.
06 - Mix softened butter, sugar, lemon zest, and lemon juice until smooth and spreadable.
07 - On lightly floured surface, roll risen dough into 16x12 inch rectangle.
08 - Spread lemon filling evenly over dough, leaving 1/2 inch border around edges.
09 - Roll dough tightly from longer side. Slice into 12 equal rolls.
10 - Arrange rolls in greased 9x13 inch baking dish. Cover and let rise 30 minutes.
11 - Preheat oven to 350°F.
12 - Bake for 23–27 minutes until golden brown.
13 - Whisk together powdered sugar and lemon juice until smooth.
14 - Drizzle glaze over warm rolls. Garnish with additional lemon zest if desired.