1. Combine first 3 ingredients in bowl of an electric mixer. Sprinkle yeast over milk mixture; let stand 5 minutes or until bubbly. Stir in 2 tablespoons butter, rind, and salt. Weigh or lightly spoon flour into dry measuring cups; level with a knife. Add flour to yeast mixture; mix on low speed with a dough hook until a soft, elastic dough forms (about 5 minutes). Dough will be sticky. Place dough in a large bowl coated with cooking spray, turning to coat top. Cover and let rise in a warm place (85°) for 1 hour or until doubled in size.
2. Punch dough down; turn out onto a lightly floured surface. Cut dough into 13 equal pieces. Working with 1 piece at a time, roll dough into a ball by cupping your hand and pushing against dough and surface while rolling. Arrange dough balls 2 inches apart on a baking sheet coated with cooking spray. Brush lightly with remaining 1 tablespoon butter. Cover; let rise 1 hour or until doubled in size.
3. Preheat oven to 375°.
4. Bake at 375° for 20 minutes or until rolls are golden. Remove rolls from pan; cool slightly on a wire rack.