Creating Lemon Rolls can be straightforward if you follow these easy steps:

1. Activate Yeast: In a small bowl, combine the warm milk, sugar, and yeast. Let it sit for 5-10 minutes until foamy.
2. Mix Dry Ingredients: In a large mixing bowl, whisk together 2 cups of flour and salt.
3. Combine Wet Ingredients: In a separate bowl, mix the melted butter, eggs, lemon juice, and lemon zest.
4. Combine Mixtures: Add the yeast mixture to the flour bowl, followed by the wet ingredients. Stir until combined.
5. Knead Dough: Gradually add the remaining flour, ¼ cup at a time, until a dough forms. Knead for about 5-7 minutes until smooth.
6. First Rise: Place the dough in a lightly greased bowl, cover with a damp cloth, and let rise in a warm place for about 1 hour, or until doubled in size.
7. Roll Out Dough: After rising, punch down the dough and roll it out on a floured surface into a rectangle (about 10 x 15 inches).
8. Spread Lemon Zest Mixture: Brush the surface with melted butter, and sprinkle sugar and lemon zest evenly over it.
9. Roll Up: Starting from one long edge, tightly roll the dough into a log. Pinch the seam to seal.
10. Slice into Rolls: Cut the rolled dough into approximately 12 equal pieces.
11. Second Rise: Place the rolls cut-side up in a greased baking dish, cover, and let rise for 30-45 minutes.
12. Preheat Oven: Preheat your oven to 350°F (175°C).
13. Bake: Bake for 20-25 minutes, or until golden brown and cooked through.
14. Prepare Glaze: While the rolls bake, mix powdered sugar, lemon juice, and vanilla extract (if using) until smooth.
15. Cool and Glaze: Once baked, remove the rolls from the oven and let them cool slightly. Drizzle with the lemon glaze while still warm.