In a large mixing bowl, combine warm milk, sugar, and yeast. Let it sit for 5 minutes until foamy.

Add melted butter, egg, vanilla extract, and salt. Gradually add flour and knead until the dough is soft and slightly sticky (5–7 minutes).

Transfer the dough to a greased bowl, cover with a clean towel, and let it rise in a warm place for 1–1.5 hours or until doubled in size.

While the dough rises, mix softened butter, sugar, lemon zest, and lemon juice until smooth.

Roll out the dough on a floured surface into a 12x18-inch rectangle. Spread the lemon filling evenly over the dough.

Roll the dough tightly from the long side into a log. Slice into 12 equal rolls and place them in a greased 9x13-inch baking dish.

Cover and let the rolls rise for 30 minutes or until puffy.

Preheat oven to 350°F (175°C). Bake the rolls for 20–25 minutes or until golden brown.

Whisk powdered sugar, lemon juice, and zest until smooth.

Drizzle the lemon glaze over the warm rolls and enjoy!