1. Activate the Yeast:

• In a small bowl, combine warm milk and a teaspoon of sugar. Sprinkle yeast over the milk and let sit for 5–10 minutes until foamy.

2. Prepare the Dough:

• In a large mixing bowl, combine flour, sugar, and salt. Add the yeast mixture, melted butter, egg, and vanilla extract. Mix and knead until smooth and elastic (about 8–10 minutes).

3. First Rise:

• Place the dough in a greased bowl, cover, and let rise for 1–1.5 hours until doubled in size.

4. Prepare the Lemon Filling:

• In a small bowl, mix softened butter, sugar, lemon zest, and lemon juice until combined.

5. Roll Out and Fill the Dough:

• Roll the dough into a 12×16-inch rectangle. Evenly spread the lemon filling over the surface.

6. Shape the Rolls:

• Roll the dough into a log and cut into 10–12 equal pieces. Arrange them in a greased baking dish.

7. Second Rise:

• Cover and let the rolls rise for 30–45 minutes until puffy.

8. Bake the Rolls:

• Preheat the oven to 350°F (175°C). Bake for 18–22 minutes until golden brown.

9. Make the Lemon Glaze:

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

10. Glaze and Serve:

• Drizzle or brush the glaze over warm rolls. Let it soak in before serving.