01 - Combine warm milk with yeast and a pinch of sugar in a large bowl. Let stand for 5-10 minutes until the mixture becomes foamy, indicating the yeast is active.
02 - Add melted butter, eggs, remaining sugar, and salt to the yeast mixture. Mix thoroughly until well combined. Gradually incorporate flour, mixing 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 once to coat all sides. Cover with plastic wrap or a clean towel and let rise in a warm, draft-free area for 1 to 1.5 hours until doubled in volume.
05 - While dough rises, cream softened butter, granulated sugar, lemon zest, and lemon juice in a small bowl until smooth and spreadable. Set aside until ready to use.
06 - Punch down risen dough and turn onto a lightly floured surface. Roll into a 16x12 inch rectangle, ensuring even thickness throughout.
07 - Spread lemon filling evenly over dough, leaving a 1/2 inch border along edges. Starting from the longer side, roll dough tightly into a log. Slice into 12 equal rolls using a sharp knife or dental floss.
08 - Arrange rolls cut-side up in a greased 9x13 inch baking dish, leaving slight space between each. Cover and let rise for 30 minutes until puffy and nearly doubled.
09 - Preheat oven to 350°F. Bake rolls for 23-27 minutes until golden brown on top and cooked through. Rotate pan halfway through for even browning.
10 - While rolls cool slightly, whisk powdered sugar with 2-3 tablespoons fresh lemon juice until smooth and pourable. Adjust consistency with additional lemon juice if needed.
11 - Drizzle warm lemon glaze evenly over slightly cooled rolls. Sprinkle with additional lemon zest for garnish, if desired. Serve warm or at room temperature.