01 - Combine warm milk with yeast and a pinch of sugar in a large bowl. Let stand 5–10 minutes until mixture becomes foamy and active.
02 - Whisk in melted butter, eggs, remaining sugar, and salt. Gradually incorporate flour, mixing until a soft, slightly sticky dough forms.
03 - Turn dough onto a lightly floured surface and knead for 8–10 minutes until smooth and elastic. Alternatively, use a stand mixer with dough hook for 5–6 minutes on medium speed.
04 - Place dough in a greased bowl, turning to coat all sides. Cover with plastic wrap and let rise in a warm, draft-free area for 1–1.5 hours until doubled in volume.
05 - While dough rises, beat softened butter, sugar, lemon zest, and lemon juice until creamy and well combined. Set aside at room temperature.
06 - Punch down risen dough and roll into a 16x12 inch rectangle on a floured surface. Spread lemon filling evenly, leaving a 1/2 inch border along the edges.
07 - Starting from the longer edge, roll dough tightly into a log. Using a sharp knife or dental floss, slice into 12 equal rolls approximately 1 1/2 inches thick.
08 - Arrange rolls cut-side up in a greased 9x13 inch baking dish. Cover with a towel and let rise 30 minutes until puffy and nearly doubled.
09 - Preheat oven to 350°F. Bake rolls 23–27 minutes until golden brown and cooked through. An instant thermometer inserted into the center should read 190°F.
10 - While rolls cool slightly, whisk powdered sugar with 2 tablespoons lemon juice. Add additional juice 1 teaspoon at a time until desired drizzling consistency is reached.
11 - Drizzle warm glaze evenly over slightly cooled rolls. Sprinkle with additional lemon zest if desired. Serve warm or at room temperature.