In a small bowl, combine warm milk, granulated sugar, and yeast. Let sit 5–10 minutes until foamy and slightly bubbly on top.

In the stand mixer bowl, combine flour, salt, and lemon zest. Attach the dough hook.

Add the yeast mixture, melted butter, and egg. Mix on low speed for 2–3 minutes until the dough starts to come together.

Increase speed to medium and knead for 6–8 minutes until the dough is smooth, elastic, and slightly tacky but not sticky. Scrape the sides once if needed.

Transfer the dough to a greased bowl, cover with a clean kitchen towel or plastic wrap, and let it rise in a warm spot for 45–60 minutes, until doubled in size.

Lightly flour your work surface and roll the dough into a 12×9-inch rectangle. Spread lemon curd evenly over the surface, leaving a 1⁄2-inch border on all sides.

Starting from the long edge, roll the dough tightly into a log. Cut into 12 even slices and place them in a greased 9×13-inch baking dish, leaving a little space for expansion.

Cover and let rise for 20–30 minutes until puffy.

Preheat oven to 350°F. Bake the rolls for 22–25 minutes until lightly golden on top and fully cooked. Remove from oven and let cool for 5–10 minutes.

Whisk powdered sugar with lemon juice until thick but spoonable. Drizzle or spread over the rolls generously, sprinkle with little lemon zest. Let set for a few minutes before serving.