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 thoroughly to combine.
03 - Gradually incorporate flour, mixing until a soft dough forms. Knead on a lightly floured surface for 8-10 minutes until smooth and elastic.
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 - Combine softened butter, sugar, lemon zest, and lemon juice until smooth and spreadable.
06 - Roll dough into a 16x12 inch rectangle. Spread lemon filling evenly, leaving a 1/2 inch border.
07 - Roll tightly from the longer side and slice into 12 equal pieces.
08 - Arrange rolls in a greased 9x13 inch baking dish. Cover and let rise for 30 minutes.
09 - Preheat oven to 350°F.
10 - Bake for 23-27 minutes until golden brown.
11 - Whisk together powdered sugar and lemon juice until smooth. Drizzle over warm rolls and garnish with lemon zest if desired.