01 -
Warm the milk to 35-40°C (95-104°F) and pour into a stand mixer or large mixing bowl. Sprinkle yeast and sugar over the milk. If using active dry yeast, let sit for 5-10 minutes until foamy; skip this step for instant yeast.
02 -
Add flour, lemon zest, vanilla, poppy seeds, salt, and eggs to the yeast mixture. Using a dough hook attachment, mix on low speed to form a thick dough.
03 -
Add softened butter a few cubes at a time, mixing on medium speed for about 10 minutes until the dough is smooth, strong, and pulls away cleanly from the sides of the bowl.
04 -
Form the dough into a ball. Transfer to a lightly greased large bowl and cover with plastic wrap or a damp kitchen towel. Let rise in a warm area until doubled in size, approximately 1 hour.
05 -
In a small bowl, combine granulated sugar and lemon zest. Use your fingers to rub the zest into the sugar, releasing the lemon oils.
06 -
Punch down the dough and transfer to a lightly floured work surface. Roll into a large rectangle measuring approximately 30cm x 40cm (12in x 16in). Spread the surface with softened butter and sprinkle with the lemon sugar, leaving a 2.5cm (1in) border along one long side.
07 -
Carefully roll the dough into a log from the long side (opposite from the border). Use dental floss or a serrated knife to cut the log into 12 equal pieces.
08 -
Place the rolls in a greased or lined 23cm x 33cm (9in x 13in) baking dish. Let rise in a warm spot until doubled in size.
09 -
Preheat oven to 180°C (350°F). Bake the rolls for 25-28 minutes until golden brown. Cover with aluminum foil if browning too quickly.
10 -
Beat cream cheese until smooth and creamy. Add powdered sugar and lemon juice, beating until creamy.
11 -
Spread the frosting over the still-warm lemon rolls. Serve while warm.