1-Activate yeast: Stir warm milk, sugar, and yeast together in small bowl; let sit 5-10 minutes until foamy. Discard if not bubbly.
2-Mix dough: Whisk flour, salt, lemon zest in stand mixer bowl; add yeast mixture, melted butter, egg; knead with dough hook 5-7 minutes until smooth and elastic.
3-First rise: Shape dough into ball, place in greased bowl, cover with towel; let rise in warm spot 45-60 minutes until doubled.
4-Roll and fill: Punch down dough, roll into 12×9-inch rectangle on floured surface; spread thin layer lemon curd leaving ½-inch border.
5-Roll and slice: Tightly roll dough from long edge into log, pinch seam to seal; slice into 12 even pieces using dental floss.
6-Proof rolls: Arrange slices cut-side up in greased 9×13-inch baking dish; cover and let rise 20-30 minutes until puffy.
7-Bake: Preheat oven to 350°F; bake rolls 22-25 minutes until tops lightly golden and filling bubbles at edges.
8-Make glaze: Whisk powdered sugar and fresh lemon juice until thick and pourable; adjust consistency as needed.
9-Glaze rolls: Cool rolls in pan 5-10 minutes; drizzle with glaze, sprinkle extra lemon zest, serve warm.