1Separate the rolls and place them into a greased 9 by 13 baking dish, leaving a little space between each.
2Using a serrated knife, cut a square into the top of each roll about halfway down. Pop out the top and remove some of the inside, leaving enough to hold the filling.
3In a small bowl, melt butter. Add granulated sugar, honey, and lemon zest. Whisk together until combined.
4Using a baking brush, coat the inside and outside of each roll generously with the butter-honey-lemon mixture, ensuring to get into every corner.
5Fill each roll with lemon pie filling using a small cookie scoop, filling right up to the top of each roll.
6Bake at 375°F until golden and heated through.
7Whisk together powdered sugar, a squeeze of fresh lemon juice, and a splash of milk until smooth and pourable. Let the rolls cool slightly, then drizzle the glaze generously over every roll.