Make the Dough:

1. In a large bowl or stand mixer, combine the warmed milk, yeast, egg, sugar, lemon zest, melted butter, and salt. Whisk together until foamy.
2. Add 3½ cups of flour and knead the dough using a dough hook for 3 minutes. (Alternatively, knead by hand for 5 minutes.) The dough should feel slightly tacky but not sticky. If it sticks, add flour one tablespoon at a time.
3. Grease a large bowl with olive oil or butter, place the dough inside, and cover with plastic wrap. Let it rise in a warm spot for about 1 hour or until doubled in size.

Roll and Fill the Dough:

1. Once the dough has risen, turn it onto a lightly floured surface and roll it into a 16×12-inch rectangle.
2. In a small bowl, combine the granulated sugar and lemon zest for the filling.
3. Spread the softened butter evenly over the dough and sprinkle the lemon-sugar mixture on top.
4. Roll the dough tightly into a log and pinch the seam closed. Cut the log into 12 equal pieces.

Arrange and Bake:

1. Grease a 9×13-inch baking dish with butter and arrange the rolls inside, leaving space between each one.
2. Cover the dish with plastic wrap and let the rolls rise for 45–60 minutes, or until puffed up.
3. Preheat the oven to 350°F. Brush the tops of the rolls with melted butter. Bake for 28–30 minutes, or until golden brown.

Prepare the Glaze:

1. In a mixing bowl, beat the cream cheese and butter until smooth.
2. Add the powdered sugar, salt, and lemon juice, and mix until the glaze reaches a pourable consistency. Adjust with more lemon juice or powdered sugar if needed.

Glaze and Serve:

1. Drizzle the glaze over the warm rolls. Garnish with lemon slices and zest if desired.
2. Serve immediately and enjoy the citrusy goodness!