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. Gradually add flour, mixing until a soft dough forms.
03 - Knead dough on a lightly floured surface for 8–10 minutes until elastic and smooth, or 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 1–1.5 hours until doubled in size.
05 - Mix softened butter, sugar, lemon zest, and lemon juice until smooth and spreadable.
06 - Roll risen dough on a lightly floured surface into a 16x12 inch rectangle.
07 - Spread lemon filling evenly over the dough, leaving a 1/2 inch border.
08 - Roll up tightly from the longer side. Slice into 12 equal rolls.
09 - Arrange rolls in a greased 9x13 inch baking dish. Cover and let rise for 30 minutes.
10 - Preheat oven to 350°F.
11 - Bake 23–27 minutes until golden brown.
12 - Cool slightly. Whisk together powdered sugar and lemon juice for glaze and drizzle over warm rolls. Garnish with extra lemon zest if desired.