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1. In a large mixing bowl, combine the warm milk and sugar. Sprinkle the yeast over the top and let it sit for about 5-10 minutes until it becomes frothy.
2. Once the yeast is frothy, add the melted butter and eggs to the mixture. Whisk until well combined.
3. In a separate bowl, whisk together the flour and salt. Gradually add the flour mixture to the wet ingredients, stirring with a wooden spoon or spatula until a shaggy dough forms.
4. Transfer the dough to a floured surface and knead for about 8-10 minutes until it becomes smooth and elastic. If the dough is too sticky, sprinkle a little more flour as needed.
5. Place the kneaded dough in a greased bowl, cover it with a clean kitchen towel, and let it rise in a warm place for about 1-2 hours, or until it has doubled in size.
6. While the dough is rising, in a medium bowl, combine the softened butter and sugar. Beat them together until light and fluffy.
7. Add the lemon zest, lemon juice, and vanilla extract to the butter-sugar mixture. Mix until everything is well combined and smooth. Set this aside for later.
8. Once the dough has risen, punch it down gently to release the air. Transfer it back to a floured surface.
9. Using a rolling pin, roll the dough into a rectangle about 1/4 inch thick, aiming for a size of approximately 16×12 inches.
10. Spread the lemon filling evenly over the rolled-out dough, leaving a small border around the edges.
11. Starting from one long edge, carefully roll the dough tightly into a log. Pinch the seam to seal it.
12. Cut the log into 12 equal pieces using a sharp knife or dental floss.
13. Place the cut rolls into a greased 9×13 inch baking dish, leaving space between each roll. Cover and let them rise again for about 30-45 minutes.
14. Preheat your oven to 350°F (175°C).
15. Bake the rolls for 25-30 minutes, or until golden brown. Let them cool in the pan for about 10 minutes before transferring them to a wire rack to cool completely.
16. In a small bowl, whisk together the powdered sugar, fresh lemon juice, and lemon zest until smooth. Adjust the consistency by adding more lemon juice or powdered sugar as needed.
17. Once the rolls are completely cooled, drizzle the lemon glaze over the top, allowing it to soak in slightly for added flavor.

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