01 - Combine warm milk with yeast and a pinch of sugar in a large bowl. Let stand 5–10 minutes until foamy and activated.
02 - Add melted butter, eggs, remaining sugar, and salt to the yeast mixture. Mix thoroughly. Gradually incorporate flour until a soft, cohesive dough forms.
03 - Knead dough on a lightly floured surface for 8–10 minutes until elastic and smooth. Alternatively, 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 area for 1–1.5 hours until doubled in volume.
05 - Combine softened butter, sugar, lemon zest, and lemon juice until smooth and spreadable.
06 - Roll risen dough on a floured surface into a 16x12 inch rectangle.
07 - Spread lemon filling evenly over dough, leaving a 1/2 inch border along edges.
08 - Roll dough tightly from the longer side. Slice into 12 equal rolls.
09 - Arrange rolls in a greased 9x13 inch baking dish. Cover and let rise 30 minutes.
10 - Preheat oven to 350°F.
11 - Bake 23–27 minutes until golden brown and cooked through.
12 - Cool slightly. Whisk powdered sugar with lemon juice until smooth. Drizzle over warm rolls and garnish with lemon zest.