Creating Lemon Rolls is straightforward, and following these steps will ensure your success:

1. Prepare the Dough: In a large bowl, combine 2 cups of flour, sugar, yeast, and salt. Mix well.
2. Heat the Milk: In a saucepan, heat the whole milk until warm but not boiling. Pour the warm milk into the dry ingredients.
3. Mix Initial Ingredients: Add melted butter, eggs, lemon zest, lemon juice, and vanilla extract to the mixture. Stir until combined.
4. Knead the Dough: Gradually add the remaining flour, one cup at a time, mixing until a soft dough forms. Knead on a lightly floured surface for about 5-7 minutes until smooth.
5. First Rise: Place the dough in a greased bowl, cover it with a kitchen towel, and let it rise in a warm place for about 1 hour or until it doubles in size.
6. Prepare the Filling: In a small bowl, mix together softened butter, brown sugar, cinnamon, and lemon juice until smooth.
7. Roll Out the Dough: Punch down the risen dough and roll it out into a rectangle, about ¼ inch thick.
8. Spread Filling: Evenly spread the filling mixture over the rolled-out dough, covering it from edge to edge.
9. Form the Rolls: Starting from one long side, tightly roll the dough into a log. Pinch the seam to seal.
10. Slice the Rolls: Cut the log into 12 equal pieces and place them in a greased baking dish.
11. Second Rise: Cover the rolls with a towel and let them rise for another 30 minutes or until they puff up.
12. Preheat Oven: Preheat the oven to 350°F (175°C).
13. Bake: Bake the rolls in the preheated oven for 25-30 minutes or until golden brown.
14. Cool: Remove from the oven and let them cool in the pan for about 10-15 minutes.
15. Prepare the Glaze: While cooling, whisk together powdered sugar, lemon juice, and zest in a small bowl until smooth.
16. Drizzle Glaze: Once the rolls are slightly cooled, drizzle the glaze over the top.

These simple steps will lead you to create delicious Lemon Rolls that are guaranteed to impress!