Warm up your milk to 120 degrees and add warm milk to the sugar and yeast. Stir and let the mixture bloom for 10 minutes.
Add 3 cups of flour and salt to the mixing bowl of the electric mixer. Start mixing on low and pour in the milk mixture.
Add egg, melted butter, honey, lemon extract and lemon zest to the mixing bowl as well.
Add remaining flour to the mixture, while it's stirring, 1/4 cup at a time. Mix until all flour is just combined. The dough will be thick and coming off the walls but still sticky.
Turn the dough onto a lightly floured surface and knead it a few times.
Shape it into a circle, cover with some saran wrap and a towel and let it rest and rise for 30-45 minutes. (I usually put my dough on a thick cutting board and I leave it on or near a warm stove. Make sure the stove-top is NOT on but the oven is on low temperature.)
Divide the dough into 12 equal pieces. (You can make smaller rolls and more rolls but dividing into 24 pieces but you will have to adjust baking temperature.)
Very lightly flour your hands and roll each dough piece into a ball.
I chose to do these dinner roll in 2 9-inch round pans because I wanted to achieve a flower look. You can choose to use a 9x13 pan and place all dough balls into one pan. Make sure to grease the pans you use.
Add rolled dough balls into greased pans. Divide the dough balls into 6 in each round pan (or place all 12 in a 9x13 pan). Cover with a towel and let them rise for 30-60 minutes, until doubled in size.
Preheat the oven to 375.
Bake dinner rolls for 18-20 minutes, until golden brown on top. (Remember to adjust time if making 24 smaller rolls.)
Melt butter in the microwave and mix it with honey and lemon extract. Brush all dinner rolls generously with the butter mixture.