Step 1:
In a large bowl, combine warm milk and yeast. Let it sit for 5 minutes until frothy. Add sugar, melted butter, eggs, and salt to the yeast mixture and mix until combined. Gradually add flour, 1 cup at a time, until a soft dough forms.

Step 2:
Knead the dough on a lightly floured surface for 5-7 minutes until smooth and elastic. Place the dough in a greased bowl, cover, and let it rise in a warm place for 1 hour until doubled in size.

Step 3:
Make the lemon filling by mixing softened butter, sugar, lemon zest, and lemon juice in a medium bowl until smooth.

Step 4:
After the dough has risen, roll it out on a floured surface into a large rectangle (1/4 inch thick). Spread the lemon filling evenly over the dough. Roll the dough tightly into a log and cut it into 12 equal pieces. Place rolls in a greased 9×13-inch dish, cover, and let them rise for 30 minutes.

Step 5:
Preheat the oven to 350°F (175°C). Bake the rolls for 25-30 minutes until golden brown. Let them cool slightly.

Step 6:
In a small bowl, whisk together powdered sugar, lemon juice, and lemon zest to make the glaze. Drizzle over the warm rolls and enjoy!