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Preheat oven to 375F. Line a baking sheet with parchment paper.
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In a large mixing bowl, whisk together flour, sugar, poppy seeds, baking powder, salt, and lemon zest. Use a pastry cutter to cut in the butter cubes until the mixture resembles coarse meal.
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In a small bowl, whisk together egg, lemon juice, vanilla, and milk. Pour over the flour mixture and use a rubber spatula to mix until just combined.
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On a lightly floured surface, gently press into an 8-inch circle. Cut into 8 equal pieces and transfer to the prepared baking sheet. Brush with milk and sprinkle with raw sugar. Bake 23 - 25 minutes or until golden brown. Cool completely on a wire rack before glazing.
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To make the glaze, whisk together lemon juice and powdered sugar until no lumps remain. Drizzle over the cooled scones.