Prepare the cinnamon rolls by combining warm milk, yeast, and sugar in a large bowl. Let the yeast bloom for about 5 minutes.

In a stand mixer bowl, mix melted butter, egg, vanilla extract, and lemon zest.

Add the bloomed yeast to the mixer and combine.

Gradually add flour and salt to form a smooth dough. Knead for 2-3 minutes until elastic.

Let the dough rise in a warm place for about 1-1.5 hours.

Prepare the raspberry filling by cooking raspberries, sugar, and lemon juice until thickened. Refrigerate to cool.

Make the icing by mixing butter, lemon zest, lemon juice, and powdered sugar.

Roll out the risen dough into a rectangle.

Spread the cooled raspberry sauce evenly over the dough and roll it tightly into a log.

Slice the log into 1-inch rolls and place them in a buttered baking dish.

Let the rolls rise for 30 minutes if baking immediately or refrigerate for up to 12 hours if preparing in advance.

Preheat the oven to 350°F and bake the rolls for 18-22 minutes until set.

Allow the rolls to cool for 10 minutes before icing.

Drizzle the rolls with the prepared icing and enjoy!