In a small bowl, dissolve the active dry yeast in the warm milk. Let it sit for about 5 minutes until foamy.

In a large mixing bowl, combine melted butter, granulated sugar, salt, eggs, lemon zest, and lemon juice.

Pour the foamy yeast mixture into the big bowl and stir.

Gradually add flour, about a cup at a time, stirring until it turns into a soft dough. Knead for 5–7 minutes.

Place the dough in a greased bowl, cover, and let it rise in a warm spot for about 1 hour or until doubled in size.

Roll out the dough into a rectangle on a floured surface.

Roll up tightly from one long side and slice into 12–15 pieces.

Place in a greased baking dish, cover, and let rise for another 30 minutes.

Preheat the oven to 350°F (175°C) and bake for 25–30 minutes until golden.

Make the icing by whisking powdered sugar, lemon juice, and melted butter until smooth.

Pour the icing over the warm rolls and let sit for 5–10 minutes before serving.