Dissolve your yeast in the warm milk in a large mixing bowl. Allow to proof for about 5 minutes.
Add in the eggs, sugar, butter, salt, flour and zest and mix everything together.
When the dough begins pulling away from the edges of the bowl, knead it for about 5 minutes (with your hands or a dough hook)
Remove the dough from the bowl and spray it with nonstick spray. Return dough to the bowl and cover with a towel.
Allow to rise for about 45 minutes until the dough doubles in size.
Lightly flour the counter top and roll the dough out into a large rectangle about 1/4 in thick.
Preheat your oven to 400 degrees.
Mix together your lemon zest and sugar to make your lemon sugar, set aside.
Spread your melted butter evenly over the top of your dough.
Sprinkle the lemon sugar evenly of the top.
Spread blueberries evenly over the top of the dough.
Carefully roll the dough from the top edge to the bottom edge to form a long roll.
Cut into 1 1/2 in slices.
Lightly grease a 9x13in baking pan.
Place rolls into the pan and bake for 28-30 minutes until they are a light golden color.
Remove rolls from oven and allow to cool for about 5 minutes before covering in glaze.
Combine all the ingredients for your lemon glaze until you get a nice frosting consistency. Add more powdered sugar or milk if needed.
Apply glaze generously to the top of the rolls evenly and serve.