01 - Combine warm milk with yeast and a pinch of sugar in a large bowl. Let stand 5-10 minutes until mixture becomes foamy and fragrant.
02 - Whisk melted butter, eggs, remaining sugar, and salt into the yeast mixture. Gradually incorporate flour until a soft, sticky dough forms.
03 - Turn dough onto a lightly floured surface and knead for 8-10 minutes until smooth and elastic. Alternatively, 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 all sides. 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, sugar, lemon zest, and lemon juice until smooth and creamy. Set aside at room temperature for easy spreading.
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 along the edges.
07 - Starting from the longer side, roll dough tightly into a log. Use a sharp knife or unflavored dental floss to slice into 12 equal rolls, about 1 1/2 inches thick.
08 - Arrange rolls in a greased 9x13 inch baking dish, cut side up. Cover and let rise in a warm place for 30 minutes until puffy and nearly doubled.
09 - Preheat oven to 350°F. Bake rolls for 23-27 minutes until tops are golden brown and centers are fully cooked through.
10 - Cool rolls in pan for 10 minutes. Whisk powdered sugar with lemon juice until smooth. Drizzle generously over warm rolls and garnish with additional lemon zest.