In a microwave safe bowl or glass measuring cup, heat milk for about 20-30 seconds. Allow temperature of mixture to reach 110ºF (or lukewarm). If it’s too hot it will kill the yeast. Add yeast and sugar into large mixing bowl of stand mixer and slowly add milk. Stir until combined and allow to sit for 10 minutes, until top is foamy.

Once the milk and yeast mixture is foamy, whisk in melted butter and egg until combined.

Add in 1 cup flour, then lemon zest and salt.  Add remaining flour ½ cup at a time, using a wooden spoon to stir gently, stopping at 3.5 cups. Knead the dough with the dough hook attachment for about 5-7 minutes, or until the dough is soft but not overly sticky. Alternatively, knead by hand on a floured surface, using a couple additional tablespoons of flour. If dough feels very sticky, add in more flour.

Lightly oil a large bowl and shape dough into ball. Place the dough in the bowl and cover with towel. Let rise in a warm environment until dough has doubled in size, about 45 minutes. TIP: Set oven to warm or preheated to 170ºF then turn off. Place bowl in the warmed oven and allow to rise.

Grease a 9×13″ baking dish with butter or coconut oil, set aside. Once the dough has about doubled in size, lightly cover rolling pin and flat work surface with flour. Roll out dough into a 15×9 inch rectangle. Be patient, and roll gently. Don’t use too much flour or your dough will be stiff. Spread on softened butter, sprinkle sugar and lemon zest; gently pat to let sugar absorb into butter slightly. Using the heels of your hands and thumbs, gently roll dough into a long roll, placing seam side down. Use floss method to slice rolls into about 1.25”. You should get about 12 rolls for a 9×13" pan. Place rolls in the greased pan, leaving room to rise, and put pan in draft-free environment. You can use the warm oven tip above. See notes below for overnight adaptation. 

Once the rolls have risen again slightly (about 15 minutes), preheat oven to 350ºF (take rolls out and wait for oven to get up to 350ºF). Bake cinnamon rolls for 20 minutes, until lightly golden on top. Then, if necessary, cover top of rolls with foil and bake for an additional 5 minutes. Covering the rolls for the last 5-10 minutes will prevent them from getting too brown on the top.