Cut rolls in half. In a small bowl, combine lemon zest and sugar. Dip each roll half in butter and then lemon sugar mixture.
Place 3 halves in each cup of a well sprayed 12 cup muffin tin.
Cover with plastic wrap and let rise until double in size. Remove wrap and bake at 350°F 10-12 minutes. Remove from pan immediately to cooling rack.
Combine icing ingredients and mix well. Drizzle over rolls while still warm.