In a large mixing bowl, combine warm milk, sugar, and yeast. Let sit for 5–10 minutes until foamy.

Whisk in melted butter and beaten eggs until well combined. Gradually add flour and salt, stirring until a soft dough forms.

Turn the dough onto a floured surface and knead for 8–10 minutes until smooth and elastic.

Place the dough in a greased bowl, cover with a damp towel, and let rise in a warm area for about 1 hour.

After the dough has risen, punch it down, roll it out into a rectangle, and spread softened butter.

Sprinkle with brown sugar and ground cinnamon, then roll into a log and slice into 12 equal pieces.

Place the rolls in a greased baking dish and let rise for another 30–45 minutes.

Preheat the oven to 350°F (175°C) and bake for 22–25 minutes until golden brown.

For the glaze, whisk together powdered sugar, lemon juice, lemon zest, and poppy seeds.

Drizzle the glaze over the warm cinnamon rolls and garnish with extra lemon zest.