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