Allow the yeast to sit for 5 to10 minutes to foam (proof).
Add yeast mixture to the bowl of a stand mixer.
Add remaining ingredients, and mix for 4 to 5 minutes to fully combine.
Place dough in an oiled bowl and cover. Allow dough to rise in a warm location for 1 and a 1/2 hours, or until doubled. My mixer has a plastic cover, so I left it in there to rise.
Remove dough and place on a flour covered work surface.
Roll dough out to a 15" x 18" rectangle.
Spread lemon curd over dough to within 1/2" of the edge.
Start rolling dough from the left (long side) to the right.
Measure and mark dough in 1 and a 1/2" increments.
Slice dough on the marks, and place in a 13" x 9" baking pan that has been sprayed with cooking spray.
Cover and allow to rise until doubled in size, about an hour. Preheat oven to 350 degrees.
Place rolls in oven and bake for 15 to 20 minutes, or until golden brown and cooked through in the center.
To make the glaze:
Whisk ingredients together in a small bowl. Add additional milk if needed to reach desired consistency.
Drizzle glaze over rolls in the pan. Serve.
Notes
I used Dickinson's Lemon Curd in this recipe. If you would like to make your own Homemade Lemon Curd that would be awesome as well!