In a small saucepan set over medium low heat, warm the butter, honey and milk until butter is melted. Do not boil. Remove from heat and let sit 5 minutes, or until the temperature is between 120-130°F.
In the bowl of a stand mixer fitted with a dough hook, combine 1 ½ cups of the flour with the yeast and salt. Add the milk mixture and mix until combined. Add the eggs one at a time, mixing after each. With the mixer on low, add the remaining flour ¼ cup at a time until dough clears the side of the bowl but is still slightly sticky to the touch. You may not need all 3 ½ cups of flour.
Continue to knead the dough in the mixer until it is smooth and elastic, about 5-8 minutes. Place dough in a greased bowl, cover with plastic wrap, and let rise in a warm place until doubled, about 1 hour.
Gently punch down dough and knead a few times. Cover it with the plastic wrap and let it rest for 15 minutes. Meanwhile, prep the filling ingredients.
On a lightly floured surface, roll the dough into a long rectangle approximately 10x15 inches. Drizzle with the melted butter and sprinkle with the brown sugar, lemon zest and cinnamon. Starting with a long end, tightly roll up the dough into a long log. Use a sharp knife or unscented dental floss or thread to cut dough into 12 rolls.
Place rolls in a greased 9x13-inch pan. Cover with plastic wrap and let rise until doubled, about 30-45 minutes. Meanwhile, preheat oven to 350°F.
Bake lemon cinnamon rolls until golden, about 25 minutes. Let cool slightly, then drizzle with glaze.