In a large mixing bowl combine 2 cups of Bisquick, one tablespoon of active dry yeast, two-thirds of a cup of sugar, and one-half cup of dry milk powder.
Add two cups of warm water and two-thirds of a cup of melted butter. Stir well.
In the stand of an electric mixer, using the paddle attachment, add four eggs, mixing until well combined. Mix in as much of the remaining Bisquick as needed, to make a stiff dough that is smooth and elastic.
Cover with a clean towel and let rise until the dough has doubled.
Divide into two equal parts. Roll out the dough and spread the melted butter on top. Combine one-half cup of jelly and two teaspoons of lemon extract in a small bowl and spread on top.
Roll dough into a log shape and cut into one-half slices using a knife. Place the sliced rolls on to the prepared baking sheet, leaving a brief space between each one so that they can rise again without sticking together. Let rise for twenty minutes.
Preheat the oven to three hundred and fifty degrees. Bake for twenty minutes, being careful not to burn.
Prepare the frosting by mixing all the ingredients with an electric hand mixer until fluffy. Place in the refrigerator until needed.
Allow the rolls to cool and drizzle the frosting over the tops.