Grease a 9-inch pan with butter, line the bottom with parchment paper and set aside.
Add the dough ingredients into your bread machine and set it on the dough cycle.
Take the finished dough out of the machine, cover and let it rest on a floured surface for about 10 minutes.
Roll out the dough into a 16in x 11in (40.6cm x 28cm) rectangle. Spread the softened butter on the dough and evenly sprinkle the sugar and lemon zest.
Roll up the dough into a log as tightly as you can and slice the log into 8 rolls.
Line up the rolls in the pan, cover and let them rise for about 30 minutes.
Preheat the oven to 392°F (200°C).
Bake the rolls for 15 to 18 minutes, or until golden brown.
In a small bowl, mix together the ingredients for the frosting. While the rolls are still warm, smear on the frosting.