In a small bowl, whisk together the warm water, ½ teaspoon of sugar, and active dry yeast. Let it bloom for about 10 minutes or until frothy and bubbly.
¼ cup warm water, ½ teaspoon granulated white sugar, 1 ½ teaspoons active dry yeast
In a large mixing bowl, whisk together the warm milk, sugar, melted butter, egg, vanilla, and salt. Mix in the frothy yeast mixture.
½ cup warm milk, 3 tablespoons salted butter, 3 tablespoons granulated white sugar, 1 egg, 1 teaspoon vanilla extract, ½ teaspoon salt
Add about 2 ½ cups of the flour and fold until a dough begins to form. Turn onto the countertop and knead for about 5 minutes, adding the last ¼ cup of flour as needed, until a soft and smooth dough that is still slightly tacky but not sticking to your hands forms.
2 ½-2 ¾ cups all-purpose flour
Place the dough back into the bowl, cover, and let it rise in a warm place for 1 hour or until doubled in size. Once risen, punch the dough down completely to deflate.
In a small bowl, stir together the softened butter and lemon curd. In a separate bowl, stir together the sugar and lemon zest.
¼ cup salted butter, ⅓ cup lemon curd, ⅓ cup granulated white sugar, 1 tablespoon lemon zest
Roll out the dough into a large rectangle about 16"x12. Spread the lemon curd and butter mixture evenly on top. Then, sprinkle the lemon zest sugar evenly over top. Roll the dough up tightly from the long edge. Slice or use unflavoured dental floss to cut into 12 rolls. Arrange in a baking pan that has been greased with butter.
Cover the pan and let rise in a warm place for 30 minutes. Preheat the oven to 350℉. Uncover and bake the risen rolls in the preheated oven for 20-25 minutes or until golden on top.
Stir together the melted butter, lemon curd, powdered sugar, vanilla, and cream to make a smooth icing. Spread over the rolls while still hot. Enjoy!
1 tablespoon salted butter, 1 tablespoon lemon curd, ¾ cup powdered sugar, ½ teaspoon vanilla extract, 2 tablespoons whipping cream
Notes
You could use homemade if you are feeling fancy, but I love to use a good store-bought lemon curd for ease and convenience.