01 - Combine warm milk with yeast and a pinch of sugar in a large bowl. Let stand 5–10 minutes until foamy.
02 - Add melted butter, eggs, remaining sugar, and salt to the yeast mixture. Mix well, then gradually add flour while mixing until a soft, smooth 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 place for 1 to 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. Spread lemon filling evenly over dough, leaving a 1/2 inch border.
07 - Roll up dough tightly from the longer side. Slice into 12 equal rolls and arrange in a greased 9x13 inch baking dish.
08 - Cover rolls and let rise for 30 minutes until puffy.
09 - Preheat oven to 350°F.
10 - Bake rolls for 23–27 minutes until golden brown and cooked through.
11 - Cool rolls slightly. Whisk together powdered sugar and lemon juice until smooth, then drizzle over warm rolls. Garnish with extra lemon zest if desired.