In the bowl of a stand mixer combine the warm milk (100°F), sugar, and yeast. Allow to sit for 5 minutes. The mixture should be foamy. If it isn't your yeast isn't active and can't be used.
1 cup (240ml) warm milk, ¼ cup (55g) granulated sugar, 1 package (.25 ounces) or 2¼ teaspoon active dry or instant yeast
Add ½ of the flour, butter, eggs, salt, zest, and lemon juice. Mix by hand just until combined. Add the remaining flour and mix until it becomes stiff. Place on stand mixer fitted with dough hook and knead on speed 1 or 2 for 5 minutes. Cover and allow to rise in a warm place until double in size.
4 cups (620g) all-purpose or bread flour, 4 tablespoons soft butter, 2 large eggs, 1 teaspoon salt, zest and juice of 1 large lemon
Punch dough down and remove from the bowl. Roll into a 12×18 inch rectangle. Spread with soft butter. In a small bowl combine the sugars and zest. Sprinkle over the butter. Roll the dough to form an 18 inch log. Cut into 12 equal rolls. Place in a lightly greased 9×13 baking pan.
½ cup (113g) very soft butter, ½ cup (110g) granulated sugar, ½ cup (97.5g) packed brown sugar, zest of 1 large lemon
Cover and allow to rise until double in size. Bake at 375°F for 20-25 minutes or until lightly browned on top. Remove from oven and allow to cool while making the frosting. Combine the cream cheese, confectioners sugar, lemon juice, and vanilla until smooth. Spread over warm rolls.
4 ounces (113g) very soft cream cheese, 3 tablespoons fresh lemon juice, 1½ cups (180g) confectioners sugar, 1 teaspoon vanilla