In a small bowl, combine the warm milk, sugar, and yeast. Stir to dissolve and let sit for about 5-10 minutes until bubbly.
In a large bowl, mix together the butter, salt, and eggs. Add the yeast mixture and gradually stir in the flour, kneading until a soft dough forms.
Turn the dough onto a floured surface and knead for 5-7 minutes until smooth and elastic.
Place the dough in a greased bowl, cover with a damp cloth, and let rise for 1 to 1.5 hours, or until doubled in size.
Preheat the oven to 375°F (190°C). Punch down the dough, roll it out into a 12×18-inch rectangle.
Sprinkle lemon zest evenly over the dough and scatter the blueberries across the surface.
Roll the dough tightly starting from one edge and slice into 12 rolls.
Place the rolls in a greased 9×13-inch baking dish and let rise for another 30 minutes.
Bake for 20-25 minutes until golden brown and cooked through.
While baking, whisk together powdered sugar, lemon juice, and vanilla extract for the glaze.
Drizzle the glaze over the warm rolls after baking.