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 - Whisk melted butter, eggs, remaining sugar, and salt into yeast mixture. Gradually incorporate flour until soft dough forms.
03 - Turn dough onto lightly floured surface and knead 8-10 minutes until smooth and elastic. Alternatively, use stand mixer with dough hook for 5-6 minutes.
04 - Place dough in greased bowl, cover with plastic wrap, and let rise in warm area 1-1.5 hours until doubled in volume.
05 - Beat softened butter, sugar, lemon zest, and lemon juice until smooth and spreadable consistency is achieved.
06 - Punch down risen dough and roll into 16x12 inch rectangle. Spread lemon filling evenly, leaving 1/2 inch border along edges.
07 - Roll dough tightly from longer side. Cut into 12 equal portions and arrange in greased 9x13 inch baking dish.
08 - Cover rolls and let rise 30 minutes until puffy and nearly doubled in size.
09 - Preheat oven to 350°F and bake 23-27 minutes until golden brown and cooked through.
10 - Cool slightly while whisking powdered sugar with lemon juice until smooth. Drizzle glaze over warm rolls and garnish with lemon zest if desired.