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Add the yeast and brown sugar to warm milk in a bowl and stir well. Leave to activate about 10 minutes or until frothy.
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Add flour to the bowl of the mixer and add the lemon zest and salt to it.
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Add the melted butter, eggs and condensed milk to the yeast mixture and stir everything together.
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Pour the wet ingredients over the dry ingredients and mix for about 3 minutes. The dough will be pretty sticky and elastic.
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Let the dough rise and double in size in a warm place about an hour.
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Turn the dough over onto a clean surface, use flour if you need to. Knead the dough about five minutes. Form it into a long roll and cut into 12 pieces. Form into any shape roll you like. I made a knot.
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Preheat oven to 350 F degrees.
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Let the rolls sit for a about 10 minutes, so they rise a bit more. Brush with an egg wash and sprinkle with sesame seeds
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Bake for about 25 to 30 minutes.