Preheat the oven at 350 degrees F.
For the cigars: In a stockpot, melt the butter, sugar, maple syrup, espresso, and lemon juice. Bring to a boil, then add the flour and cook for about 1 minute, stirring constantly with a wooden spoon, until it thickens slightly. Remove from the heat.
Drop a teaspoon-size amount of batter on a parchment paper-lined baking sheet. Spread thinly with the back of a spoon or a palette knife into a circular-size shape. Sprinkle with hazelnuts. Repeat until all the batter has been used. Bake in the oven until slightly golden brown, for about 8 minutes. Remove and let cool only slightly until you can handle them, about 5 minutes. Carefully roll them into a cigar shape using the handle of a wooden spoon to guide you, if necessary. If you see they are hardening too quickly, you can put them back in the oven for a minute or two to re-soften and continue rolling. Set aside.
For serving: Rim the edges of the espresso cups with lemon juice and then lightly dip the cup in sugar. Add a shot of espresso coffee. Garnish with a scoop of ice cream and lemon zest.
Serve the coffee cigars on the side.