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Preheat oven to 350 degrees. Grease the bottoms only of the loaf pans and set aside
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In the bowl of a standing mixer with the paddle attachment, combine the flour, sugar, baking powder, and salt. Add the milk, vegetable oil, egg, vanilla and lemon zest and beat on medium speed until just combined. Do not over mix. Add the poppy seeds and beat for another 30 seconds. Pour batter into loaf pans and bake for 55-60 minutes or until cake tester or toothpick inserted into the center of the cakes come out clean.
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Remove cakes from oven and let cool slightly on wire rack. Loosen sides of cake with knife and continue to cool on rack before removing from pan and serving.
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In a small bowl, whisk together the Confectioner's sugar, vanilla, and milk until smooth. Add more milk if needed to get desired texture. Place a sheet of wax paper under cooled cake and spoon icing over top of cake. Let excess drip down sids or if you like a more simple, frosted look, use an offset spatula to ice only the top of the loaf. Let icing set for 15 minutes before serving.