Begin by warming the milk in a bowl until it’s at room temperature. Combine the melted butter, egg, and warmed milk in a mixing bowl, whisking them together until blended.

In a separate bowl, mix the flour, instant yeast, granulated sugar, and salt thoroughly.

Gradually add the wet ingredients to the dry mixture, stirring gently until just combined.

Turn the dough out onto a lightly floured surface and knead it for about 5-7 minutes until it becomes smooth and elastic.

Place the kneaded dough into a greased bowl, cover it, and allow it to rise in a warm spot until it doubles in size, approximately 1 to 2 hours.

Once the dough has risen, punch it down gently to release the air. Roll it out on a floured surface into a rectangle about 12x18 inches.

Spread the softened butter over the rectangular piece of dough.

In a bowl, mix the granulated sugar, lemon zest, and vanilla extract until combined and sprinkle it evenly over the butter layer on the dough.

Starting at the longer side of the rectangle, carefully roll the dough tightly to form a log.

Cut the rolled dough into approximately 12 equal pieces and arrange them in a greased baking pan.

Cover the pan loosely and let the rolls rise again until they have doubled in size, which may take 30 to 60 minutes.

Preheat the oven to 350°F while the rolls are finishing their final rise.

Once risen, remove the cover and bake them in the preheated oven until golden brown on top, about 20-25 minutes.

While the rolls are baking, prepare the frosting by mixing the softened cream cheese, confectioners’ sugar, lemon juice, and optional lemon zest in a bowl.

After baking, allow the rolls to cool in the pan for about 10-15 minutes before spreading the frosting generously on top.

Serve the rolls as they are or sprinkle with additional lemon zest for a pop of color and flavor.