In the bowl of a stand mixer add water and sprinkle yeast over top and allow to bloom for 5 minutes until foamy.
Add sugar, butter, flour, and salt and mix on a low speed with the dough hook until combined. Turn the mixer up to medium high speed and knead with the dough hook for about 5 minutes.
Transfer dough to a well greased bowl, cover with a clean towel, and allow to rise in a warm spot for 1-2 hours or until doubled in size.
Once dough has doubled in size turn it out onto a lightly floured surface and roll it into a large rectangle approximately 18" by 15".
Mix together jam and lemon juice and spread over the dough leaving about 1" on all sides and 3" at one short end.*
Roll dough starting at the end with more jam and ending at the end with the 3" gap. Lightly press the ends to seal.
Cut into 2" sections and lay in a greased baking dish. Cover with a clean towel and let rise another 30 minutes.
Bake at 350 degrees for 25-30 minutes or until golden brown.
Mix together icing ingredients and drizzle over warm rolls.
*You want to leave this 3 inch gap so that your jam filling doesn't squirt out.