In a large mixing bowl stir together yeast and warm milk. (One cup of cold milk in the microwave for 1 minute = 107 degrees F.) Allow yeast to proof for 5 minutes.

Add in eggs, butter, sugar, salt zest and flour. Stir until combined.

Using your dough hook attachment, mix dough, when it begins to pull away from the sides of the mixing bowl, set a timer for 5 minutes, continuing to mix with the dough hook attachment.

Remove dough from mixing bowl, spray the bowl with non-stick cooking spray, and place dough back in the bowl, and cover with a lightweight, dry towel. Allow dough to rise for 45-60 minutes, or until it's doubled in size.

Lightly flour the countertop and roll the dough into a large rectangle approximately 1/4" thick.

Combine lemon zest and sugar. Brush the top of the dough with melted butter and then sprinkle lemon sugar over the dough.

Roll the dough, from the long side, to form one long large roll. Cut into 1 1/2" slices.

Grease the bottom of a 9x13" baking pan, and place the rolls into the pan. Cover again with the towel and let them raise for another 30 minutes.

Preheat oven to 400 degrees F.

Bake rolls for 25-30 minutes. Watch them. When they are golden brown pull them from the oven and let them cool while you prepare the glaze.

Whisk glaze ingredients together and apply generously to the top of the warm rolls.