01 - Combine warm milk with yeast and a pinch of sugar in a large bowl. Let stand 5–10 minutes until mixture becomes foamy.
02 - Add melted butter, eggs, remaining sugar, and salt to the yeast mixture. Mix thoroughly. Gradually incorporate flour, mixing until a soft, cohesive dough forms.
03 - Turn dough onto a lightly floured surface and knead 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 location for 1–1.5 hours until doubled in size.
05 - While dough rises, cream softened butter, sugar, lemon zest, and lemon juice until smooth and spreadable.
06 - Punch down risen dough and roll out on a floured surface into a 16x12 inch rectangle. Spread lemon filling evenly, leaving a 1/2 inch border.
07 - Roll dough tightly from the longer side. Slice into 12 equal pieces and arrange in a greased 9x13 inch baking dish.
08 - Cover rolls and let rise for 30 minutes until slightly puffed.
09 - Preheat oven to 350°F. Bake rolls for 23–27 minutes until golden brown.
10 - Cool rolls slightly. Whisk powdered sugar with lemon juice until smooth and drizzle over warm rolls. Garnish with additional lemon zest if desired.