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In a small bowl, combine warm milk and sugar. Sprinkle yeast over the top and let it sit for 5 minutes until frothy.
In a large mixing bowl, combine flour, salt, and yeast mixture. Add the egg and softened butter. Mix until a shaggy dough forms.
Transfer the dough to a lightly floured surface and knead for about 8 minutes, or until smooth and elastic.
Place the dough in a greased bowl, cover with a damp towel, and let it rise in a warm place for 1 hour, or until doubled in size.
In a small bowl, lightly mash the raspberries with a fork, leaving some texture.
In another bowl, mix brown sugar and cinnamon.
After the first rise, punch down the dough and roll it into a large rectangle (about 12×18 inches) on a floured surface.
Spread softened butter over the dough, then sprinkle the cinnamon-sugar mixture evenly. Gently spread mashed raspberries on top.
Roll the dough tightly from one long side to the other, forming a log. Slice into 12 equal pieces.
Place rolls in a greased 9×13-inch baking dish, cover, and let rise for 30 minutes.
Preheat your oven to 350°F (175°C). Bake the rolls for 30-35 minutes, or until golden brown and cooked through.
While the rolls bake, whisk powdered sugar, lemon juice, lemon zest, and milk in a bowl until smooth.
Once the rolls are slightly cooled, drizzle the lemon glaze generously over the top.