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In a small bowl, dissolve yeast in warm milk. Let sit for 5 minutes until frothy.
In a large bowl, combine flour, sugar, and salt. Add melted butter, egg yolk, and the yeast mixture. Mix until a dough forms.
Knead the dough on a lightly floured surface for about 5 minutes until smooth and elastic. Place in a greased bowl, cover, and let rise in a warm place for 1 hour or until doubled in size.
Roll the dough out on a lightly floured surface into a rectangle about 1/4 inch thick.
Spread the softened butter over the dough. Mix together the sugar, cinnamon, and lemon zest, then sprinkle evenly over the butter. Scatter blueberries over the top.
Roll up the dough tightly from the long side. Cut into 6 rolls and place in a greased baking dish.
Cover and let rise for another 30 minutes.
Preheat oven to 350°F (175°C). Bake the rolls for 20-25 minutes until golden brown.
While the rolls are baking, prepare the glaze by mixing powdered sugar, lemon juice, and milk until smooth.
Drizzle the glaze over the warm rolls before serving.
Prep Time: 20 minutes | Rising Time: 1 hour 30 minutes | Cooking Time: 25 minutes | Total Time: 2 hours 15 minutes
Calories per serving: Approximately 230 kcal | Servings: 6 rolls
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