How to Make It
Combine yeast and 3 tablespoons water in a small bowl; let stand 10 minutes or until foamy.
Weigh or lightly spoon 13 ounces (2 1/4 cups) flour into dry measuring cups; level with a knife. Combine 2 1/4 cups flour and salt in a bowl, stirring with a whisk to combine.
Place granulated sugar, milk, 1 teaspoon vanilla, egg, and egg yolk in a large bowl. Beat with a mixer at medium-low speed until well combined. Stir in yeast mixture. Add half of flour mixture; beat at low speed until well combined (about 2 minutes). Add remaining flour mixture; beat at low speed 5 minutes, occasionally scraping down sides of bowl. Add butter, 1 tablespoon at a time, beating well after each addition. Dust a work surface with 2 tablespoons flour. Scrape dough onto work surface (dough will be sticky). Knead dough 3 to 4 minutes or until smooth and elastic. Shape dough into a ball. Place dough in a large bowl lightly coated with cooking spray, turning to coat top. Cover and let rise in a warm place (85°), free from drafts, for 2 hours.
Combine brown sugar, 1 1/2 teaspoons rind, and cinnamon. Turn dough out onto surface dusted with remaining 1 tablespoon flour; gently pat dough into a 12 x 8-inch rectangle. Sprinkle evenly with brown sugar mixture. Beginning at one long side, roll up dough tightly, jelly-roll fashion; pinch seam to seal (do not seal ends of roll). Cut dough into 12 (1-inch) slices. Arrange slices in muffin cups coated with cooking spray. Cover with plastic wrap coated with cooking spray; let rise 45 minutes.
Preheat oven to 350°.
Uncover rolls. Bake at 350° for 15 minutes or until lightly browned. Cool 10 minutes in pan on a wire rack. Remove rolls from pan.
Combine powdered sugar, remaining 1/4 teaspoon vanilla, remaining 1 1/2 teaspoons rind, and 2 teaspoons juice. Stir with a whisk until smooth. Add additional juice, a few drops at a time, if glaze is too stiff to spread. Spread glaze over warm rolls; serve warm.
Bake It Forward
Double the dough in a large bowl (it will fit in the bowl of a stand mixer); divide dough in half, and place in separate bowls to rise. If you don't have muffin tins to accommodate 24 rolls, bake one (12-roll) batch in an 8-inch square glass or ceramic baking dish, and increase the bake time to 20 to 23 minutes.