In a stand mixer, combine all the dough ingredients until the dough is no longer sticky.
Cover the dough with a damp tea towel and let it rise in a warm place for about 1 1/2 hours or until it doubles in size.
Once the dough has doubled, roll it out on a floured surface into a long rectangle.
Prepare the lemon filling by mixing together the butter, sugar, lemon zest, and juice.
Spread the lemon filling evenly over the rolled-out dough.
Roll the dough into a log lengthwise and cut it into 9 thick rolls.
Place the rolls in a prepared baking dish, cover with a damp cloth, and let them rise for another 20-30 minutes until they increase by 1.5 times in size.
While the rolls are rising, preheat the oven to 350°F.
Bake the rolls for 20-22 minutes or until golden brown.
Mix together the frosting ingredients, then spread the frosting over the warm rolls.