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.
02 - Add melted butter, eggs, remaining sugar, and salt to the yeast mixture. Mix thoroughly until well incorporated.
03 - Gradually add flour while mixing, continuing until a soft, cohesive dough forms.
04 - Knead dough on a 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 a greased bowl, cover, and let rise in a warm location for 1 to 1.5 hours until doubled in volume.
06 - While dough rises, combine softened butter, sugar, lemon zest, and lemon juice. Mix until smooth and spreadable.
07 - Punch down risen dough and roll out on a floured surface into a 16x12 inch rectangle.
08 - Spread lemon filling evenly over dough surface, leaving a 1/2 inch border around edges.
09 - Roll dough tightly from the longer side. Slice log into 12 equal rolls.
10 - Arrange rolls in a greased 9x13 inch baking dish. Cover and let rise for 30 minutes until puffy.
11 - Preheat oven to 350°F during final rise.
12 - Bake for 23-27 minutes until rolls are golden brown and cooked through.
13 - Cool rolls slightly. Whisk powdered sugar with lemon juice until smooth. Drizzle glaze over warm rolls and garnish with extra lemon zest if desired.