Heat oven to 350°F. Grease an 8-inch square pan and line the bottom with parchment.
Make streusel: Stir brown sugar, flour, cinnamon, and salt. Cut in cold butter until sandy clumps form. Chill.
Cream softened butter and granulated sugar with a mixer until pale and fluffy, 2–3 minutes.
Beat in the egg, vanilla, and lemon zest until smooth and slightly thickened.
Whisk flour, baking powder, and salt in a separate bowl.
Add dry ingredients to the butter mixture in two additions, alternating with the milk. Mix just to combine.
Fold in blueberries gently to avoid streaking. Spread batter evenly in the prepared pan.
Scatter the chilled streusel evenly over the batter, pressing lightly to help it adhere.
Bake until golden and a toothpick in the center comes out clean, 45–50 minutes.
Cool in pan 20 minutes. Whisk glaze ingredients until smooth, drizzle on top, then slice and serve warm or at room temp.