Wake up the yeast: Warm the milk until it feels like a comfy bath, not hot. Stir in a little sugar, sprinkle in the yeast, and let it sit for about 5 to 10 minutes until it looks foamy.

Make the dough: In a big bowl, mix flour, sugar, and salt. Add the yeast mixture, egg, and softened butter. Stir until it comes together, then knead for about 8 to 10 minutes until smooth. If it is sticky, add a tablespoon of flour at a time, but do not overdo it.

Let it rise: Put the dough in a greased bowl, cover it, and let it rise until doubled, about 1 hour.

Make the filling: Mix sugar with lemon zest. Melt butter separately.

Roll the dough into a rectangle. Brush with melted butter, then sprinkle the lemon sugar evenly.

Slice the log into 9 to 12 pieces.

Place the rolls in a greased baking dish, cover, and let rise again for about 30 to 45 minutes.

Bake at 350°F until lightly golden and cooked through, about 20 to 25 minutes.

Glaze: Whisk powdered sugar and lemon juice until thick but pourable. Pour over warm rolls.