Combine the warm milk and 1 tablespoon of granulated sugar in a medium bowl. Sprinkle the yeast over the top and whisk to mix. Let it sit for about 5 minutes until foamy.

Whisk the eggs into the foamy yeast mixture until smooth and combined.

In a stand mixer with a dough hook, add the flour, remaining 4 tablespoons of sugar, poppy seeds, lemon zest, and salt. Stir to combine.

Slowly pour in the milk and egg mixture while the mixer is running on low. Add the butter piece by piece, letting each piece incorporate fully.

Increase the speed to medium-high and knead the dough until smooth and slightly elastic, about 5 minutes.

Transfer the dough to a greased bowl, turning it to coat entirely. Cover with plastic wrap and let it rise in a warm place until doubled in size, about 1 to 1 1/2 hours.

Turn the dough out onto a floured surface. Roll it into a 10 by 15-inch rectangle, about 1/4 inch thick.

Spread the lemon curd evenly over the surface of the dough.

Roll the dough tightly from the long edge to create a log. Cut into 9 equal rolls and place cut side up in a greased 9 by 9-inch baking pan.

Cover loosely and let the rolls rise until puffy, about 45 minutes to an hour.

Preheat the oven to 350°F. Bake the rolls for 25 to 28 minutes until lightly golden brown.

Allow to cool in the pan on a wire rack for at least 5 minutes before serving.

For the glaze, whisk together the confectioners' sugar and 2 tablespoons of milk until smooth and pourable. Drizzle over warm rolls.