01 - Combine warm milk with yeast and a pinch of sugar in a large bowl. Let stand 5-10 minutes until foamy and activated.
02 - Whisk melted butter, eggs, remaining sugar, and salt into the yeast mixture. Gradually incorporate flour until a soft, tacky dough forms.
03 - Turn dough onto a lightly floured surface and knead for 8-10 minutes until smooth and elastic, or use a stand mixer with dough hook for 5-6 minutes on medium-low speed.
04 - Place dough in a greased bowl, turning to coat. Cover with plastic wrap and let rise in a warm, draft-free area for 1-1.5 hours until doubled in bulk.
05 - Beat softened butter, granulated sugar, lemon zest, and lemon juice until smooth and spreadable. Set aside at room temperature.
06 - Punch down risen dough and roll into a 16x12 inch rectangle on a floured surface. Spread lemon filling evenly, leaving a 1/2 inch border on all edges.
07 - Starting from a long edge, roll dough tightly into a log. Cut into 12 equal portions using unflavored dental floss or a sharp knife.
08 - Arrange rolls cut-side up in a greased 9x13 inch baking dish. Cover and let rise 30 minutes until puffy and nearly doubled.
09 - Preheat oven to 350°F with rack positioned in center.
10 - Bake rolls for 23-27 minutes until golden brown on top and cooked through. Cover loosely with foil if browning too quickly.
11 - While rolls cool slightly, whisk powdered sugar with lemon juice until smooth and pourable. Adjust consistency with additional juice if needed.
12 - Drizzle warm glaze over slightly cooled rolls. Garnish with additional lemon zest if desired. Serve warm or at room temperature.