01 - Combine warm milk with yeast and a pinch of sugar in a large bowl. Let stand for 5–10 minutes until mixture becomes foamy and activated.
02 - Whisk in melted butter, eggs, remaining sugar, and salt until well combined. Gradually incorporate flour, mixing until a soft, 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.
04 - Place dough in a greased bowl, cover with plastic wrap or towel, and let rise in a warm, draft-free area for 1–1.5 hours until doubled in bulk.
05 - While dough rises, cream softened butter with sugar until light and fluffy. Blend in lemon zest and juice until smooth and spreadable.
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 around edges.
07 - Roll dough tightly from the longer edge into a log. Cut into 12 equal slices and arrange in a greased 9x13 inch baking dish.
08 - Cover rolls and let rise in a warm place for 30 minutes until puffy and nearly doubled.
09 - Preheat oven to 350°F. Bake rolls for 23–27 minutes until golden brown and cooked through.
10 - Cool rolls in pan for 10 minutes. Whisk powdered sugar with lemon juice until smooth, then drizzle over warm rolls. Garnish with extra lemon zest if desired.