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Zesty Lemon Glazed Cinnamon Rolls

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Ingredients:

Dough:
1 cup warm milk
2 teaspoons active dry yeast
1/4 cup granulated sugar
1/4 cup melted butter
2 teaspoons vanilla extract
1 egg
1/2 teaspoon salt
3 cups all-purpose flour
Filling:
1/4 cup butter, softened
1/4 cup granulated sugar
1 tablespoon lemon zest
Glaze:
1 cup powdered sugar
2 tablespoons lemon juice
1 tablespoon cream

Directions:

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