In a mixing bowl, combine the warm whole milk with 1 tablespoon of granulated sugar. Sprinkle the active dry yeast over the top and let it sit for 5 to 7 minutes until foamy.

Combine remaining sugar, softened unsalted butter, large egg, vanilla extract, salt with yeast mixture. Gradually add flour while stirring until coming together. Knead for 5 to 8 minutes.

Place dough in a greased bowl, cover, let it rise in a warm area for 1 to 1½ hours until doubled in size.

In a bowl, combine 1 cup of granulated sugar with the zest of 2 lemons. Rub zest into sugar. Set aside.

Punch down the risen dough. Roll it out into a rectangle approx 16x12 inches. Spread softened butter across dough, sprinkle the lemon sugar mixture over it. Roll tightly and slice into 12 pieces.

Place slices in a greased baking dish, cover with a towel and let rise for 30 to 40 minutes.

Preheat oven to 350°F (175°C). Bake the rolls for 22 to 26 minutes until lightly golden.

Mix powdered sugar, fresh lemon juice, and a bit of lemon zest for the glaze. Drizzle over warm rolls after baking.