In a bowl, mix the warm milk and yeast, allowing it to sit for 5 minutes until frothy. Then, add the butter, sugar, salt, and eggs, stirring to combine.

Gradually add the flour, one cup at a time, mixing as you go. Once the dough comes together, transfer it to a floured surface and knead until smooth and elastic, about 5 minutes.

Shape the dough into a ball and place it in a greased bowl. Cover with a kitchen towel or plastic wrap, and let it rise for 1 to 1.5 hours, or until doubled in size.

Once risen, punch down the dough and roll it into a 12x18 inch rectangle. Spread softened butter evenly over the surface. Mix together sugar, cinnamon, and lemon zest, and sprinkle it across the buttered dough. Add the frozen blueberries in a single layer.

Starting at one of the shorter ends, roll the dough tightly into a log. Slice the log into 1-inch sections and arrange them in greased pans. Cover again and allow the rolls to rise for another hour.

Preheat your oven to 350°F. Bake the rolls for 20-22 minutes, or until golden on top.

For the glaze, microwave the softened cream cheese and powdered sugar for 45 seconds to 1 minute. Stir in lemon juice, milk, and lemon zest until smooth. Drizzle the glaze over the warm rolls and enjoy your blueberry cinnamon goodness!