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 activated.
02 - Add melted butter, eggs, remaining sugar, and salt to the yeast mixture. Mix thoroughly to combine. Gradually incorporate flour, mixing until a soft, cohesive 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.
04 - Place dough in a greased bowl, cover with plastic wrap or damp towel, and let rise in a warm, draft-free area for 1 to 1.5 hours until doubled in volume.
05 - While dough rises, beat softened butter, sugar, lemon zest, and lemon juice until smooth and spreadable consistency is achieved.
06 - Punch down risen dough and roll out on a lightly floured surface into a 16x12 inch rectangle, ensuring even thickness throughout.
07 - Spread lemon filling evenly across the dough surface, leaving a 1/2 inch border around edges to prevent leakage during rolling.
08 - Starting from the longer side, roll dough tightly into a log. Using a sharp knife or unflavored dental floss, slice into 12 equal portions.
09 - Arrange rolls cut-side up in a greased 9x13 inch baking dish. Cover and let rise in a warm place for 30 minutes until puffy and expanded.
10 - Preheat oven to 350°F during the final 10 minutes of the second rise to ensure proper baking temperature.
11 - Bake rolls for 23-27 minutes until tops are golden brown and cooked through. Rotate pan halfway through for even browning.
12 - Let rolls cool in pan for 10 minutes. Whisk powdered sugar with lemon juice until smooth, then drizzle generously over warm rolls. Garnish with additional lemon zest if desired.