Mix warm milk, yeast and sugar in a bowl. Let it sit until foamy. This shows the yeast is alive and ready.

Add melted butter, egg, salt and flour to the yeast mixture. Mix slowly until a soft dough forms without dry spots.

Knead by hand or mixer until smooth and stretchy. This helps gluten develop and gives rolls their fluffy texture later.

Place dough in a greased bowl. Cover and rest until doubled in size. Warm rooms help dough rise faster.

Mix butter, sugar and lemon zest in a small bowl. Stir until smooth. This mixture gives the rolls sweet lemon flavor.

Place risen dough on floured surface. Roll into a large rectangle. Keep the thickness even for uniform baking later.

Spread lemon mixture over dough evenly. Reach edges for flavor in every bite. Do not press too hard while spreading.

Roll dough tightly from long side. Slice into even rolls. Place them cut side up in a greased baking dish carefully.

Cover the dish and let rolls rise again. They should puff and fill the pan. This step makes them extra fluffy.

Bake in preheated oven at 350°F or 175°C until golden. The kitchen will smell amazing while they bake.

Whisk powdered sugar, lemon juice and zest together. Adjust juice for thickness. The glaze should be smooth and pourable.

Pour glaze over warm rolls after baking. It melts slightly into the swirls. Serve soft, sweet and fragrant.