In a measuring cup, stir 1/2 cup warm water, 1 package active dry yeast and 1 teaspoon sugar until dissolved. Set aside and let stand until bubbly (about 10 minutes).
In a medium saucepan on medium heat, warm 1/2 cup milk until you see bubbles forming at the edges. Remove from heat and stir 1/4 cup sugar, 1 teaspoon salt, and 1/4 cup butter until the butter has completely melted.
Set aside and let cool until lukewarm.
In a large bowl, combine your yeast mixture, your milk mixture, eggs and 1 1/2 cups flour. Stir until combined. Proceed to add the rest of your flour 1/2 cup at a time combining well after each addition.
Once the dough starts pulling and sticking together in a ball, transfer it into a lightly floured surface and knead until smooth and elastic (8-10 minutes). When in doubt, knead some more (see note 1).
Oil a large bowl with 1 tablespoon canola oil. Place your dough in the bowl and turn to ensure the whole dough is coated. Cover with a damp cloth and allow to rise in a dry warm place (about 90F, see note 2) until it doubles in size (about 1 hour).
Using your fingertips, rub 1/2 cup sugar and 3 tbsp lemon zest together until the zest releases some of its oil and the mixture becomes fragrant. Set aside.
When your dough is ready, transfer it into a lightly floured surface and roll into a 12x14 inch rectangle. Brush the dough with melted butter then sprinkle 3/4 of your lemon sugar, leaving a half inch border around.
Tightly roll the dough and pinch the seams to seal. Brush with more melted butter. Cut the roll into 12 pieces and place cut side down on your 9x13 inch baking dish. Space them out evenly to allow the dough space to rise. Cover and let rise for another 30 minutes to 1 hour.
When your rolls are just about ready, preheat your oven to 375F. Sprinkle the rest of your lemon sugar over the rolls and bake for 20 minutes or until golden brown.
To make the glaze, simply whisk all ingredients together until smooth and incorporated. Taste and adjust the tartness (by adding more lemon juice) or sweetness (by adding more sugar) as desired.
Pour over the rolls before serving.
You can certainly use the dough hook attachment in your stand mixer or the dough blade in your food processor when making bread. I just prefer doing the mixing and kneading by hand so I have more control and I have less chance of over-kneading it.
When making bread, I use my pre-heated oven as my "dry warm place". What I do is turn it on for a few minutes then turn it off so that it'll be about 90F when I'm ready to put my dough in to rise. Just remember to remove the dough from the oven when you're ready to actually preheat for baking.