Prepare the Dough:

1. In a small bowl, mix warm milk and sugar. Sprinkle yeast over the top and let sit for 5 minutes until foamy.
2. In a large mixing bowl, combine flour and salt. Add the yeast mixture, melted butter, and egg. Mix until a soft dough forms.
3. Knead on a lightly floured surface for 8-10 minutes until smooth and elastic. Alternatively, use a stand mixer with a dough hook for 5-6 minutes.
4. Place dough in a greased bowl, cover, and let rise for 1 to 1.5 hours, or until doubled in size.

Make the Lemon Filling:

5. In a small bowl, mix lemon curd, sugar, and lemon zest until combined.

Roll and Fill the Dough:

6. Roll out the risen dough into a 14×9-inch rectangle on a floured surface.
7. Spread lemon filling evenly over the dough, leaving a small border around the edges.
8. Roll dough tightly from the long side into a log and cut into 12 equal rolls.

Second Rise:

9. Place rolls in a greased 9×13-inch baking dish, cover, and let rise for 30-45 minutes until puffy.

Bake the Lemon Rolls:

10. Preheat oven to 350°F (175°C).
11. Bake for 20-25 minutes, or until golden brown.

Make the Glaze & Serve:

12. Whisk together powdered sugar, lemon juice, vanilla extract, and heavy cream until smooth.
13. Drizzle glaze over warm rolls. Serve and enjoy!