In a small bowl, combine ¾ cup of warm whole milk with 1 tablespoon of granulated sugar. Sprinkle 2¼ teaspoons of active dry yeast on top and let it sit for about 5-7 minutes until frothy.

In a large mixing bowl, combine the activated yeast mixture with the remaining sugar, ¼ cup of melted butter, 1 large egg, 1 teaspoon of vanilla extract, and ½ teaspoon of salt. Gradually sift in 3 cups of all-purpose flour, mixing until a soft dough forms. Knead on a floured surface for 6-8 minutes until smooth and elastic.

Place the kneaded dough in a greased bowl, turning to coat. Cover with a towel and let rise for 1 to 1½ hours, or until doubled in size.

Mix ½ cup of granulated sugar with the zest from 2 large lemons. Rub the lemon zest into the sugar to enhance the aroma.

Roll out the risen dough into a 12x18 inch rectangle. Spread ¼ cup of softened butter over the dough, sprinkle the lemon sugar mixture, then roll tightly from one long edge to the other. Slice into 9-12 equal pieces.

Place the sliced rolls in a greased baking dish. Cover and let rise for 30-40 minutes until puffy.

Preheat your oven to 350°F (175°C). Bake for 22-26 minutes until lightly golden.

Whisk together 1 cup of powdered sugar and 2-3 tablespoons of fresh lemon juice until smooth. Drizzle the glaze over the warm rolls.