01 - Combine warm milk with yeast and a pinch of sugar in a large bowl. Let stand 5-10 minutes until mixture becomes foamy.
02 - Add melted butter, eggs, remaining sugar, and salt to yeast mixture. Mix thoroughly until well incorporated.
03 - Gradually incorporate flour, mixing until a soft, cohesive dough forms. Knead on lightly floured surface for 8-10 minutes until smooth and elastic, or use stand mixer with dough hook for 5-6 minutes.
04 - Transfer dough to a greased bowl, cover, and let rise in warm location for 1-1.5 hours until doubled in volume.
05 - While dough rises, blend softened butter, sugar, lemon zest, and lemon juice until smooth and spreadable.
06 - Punch down risen dough and roll out on lightly floured surface into a 16x12 inch rectangle.
07 - Spread lemon filling evenly across dough surface, maintaining a 1/2 inch border along edges.
08 - Roll dough tightly from the longer edge. Slice cylinder into 12 equal portions.
09 - Arrange rolls in greased 9x13 inch baking dish. Cover and let rise 30 minutes until puffy.
10 - Heat oven to 350°F.
11 - Bake 23-27 minutes until rolls achieve golden-brown color.
12 - Allow rolls to cool slightly. Whisk powdered sugar with lemon juice until smooth, drizzle over warm rolls. Garnish with additional lemon zest if desired.