In a large mixing bowl, combine the warm milk, yeast, and 1/4 cup granulated sugar. Stir gently and let sit for 5-10 minutes until the yeast is foamy. This indicates the yeast is active.

Add the egg, melted butter, and salt to the yeast mixture, stirring to combine. Gradually add the 3 cups of all-purpose flour, mixing with a wooden spoon or a stand mixer with a dough hook until a shaggy dough forms.

Turn the dough out onto a lightly floured surface and knead for 5-7 minutes, or until the dough is smooth and elastic. If using a stand mixer, knead on medium-low speed for 5-7 minutes.

Lightly oil a clean large bowl. Place the dough in the bowl, turning once to coat. Cover the bowl with plastic wrap or a clean kitchen towel and let it rise in a warm place for 1 to 1.5 hours, or until doubled in size.

While the dough is rising, combine the raspberries, 1/4 cup granulated sugar, cornstarch, lemon juice, and 1/2 tsp ground cinnamon in a small saucepan. Cook over medium heat, stirring frequently, until the mixture thickens and begins to bubble, about 5-7 minutes.

Remove from heat and let the raspberry filling cool completely. It will thicken further as it cools.

In a small bowl, combine the softened butter, light brown sugar, and 1 tbsp ground cinnamon. Mix with a fork until well combined and paste-like.

Once the dough has doubled, gently punch it down to release the air. Turn the dough out onto a lightly floured surface and roll it into a large rectangle, approximately 12x18 inches.

Evenly spread the cinnamon swirl mixture over the entire surface of the dough, leaving a small border (about 1/2 inch) on one of the long edges. Spoon and gently spread the cooled raspberry filling over the cinnamon swirl mixture.

Starting from the long edge opposite the border, tightly roll the dough into a log. Pinch the seam closed to seal.

Using a sharp knife or unflavored dental floss, cut the log into 12 equal-sized rolls (about 1.5 inches thick).

Grease a 9x13 inch baking dish. Arrange the sliced rolls snugly in the prepared dish.

Cover the baking dish loosely with plastic wrap or a clean kitchen towel and let the rolls rise in a warm place for another 30-45 minutes, or until they have nearly doubled in size and are puffy.

Preheat your oven to 375°F (190°C) during the last 15 minutes of the second rise.

Bake the rolls for 25-30 minutes, or until they are golden brown on top and cooked through. If they start browning too quickly, you can loosely tent them with aluminum foil.

While the rolls are baking, prepare the icing. In a medium bowl, using an electric mixer, beat the softened cream cheese and softened butter together until smooth and creamy, about 1-2 minutes.

Gradually add the sifted powdered sugar, vanilla extract, and 1 tablespoon of milk or heavy cream. Beat on low speed until combined, then increase to medium-high and beat until light and fluffy. Add the second tablespoon of milk/cream if a thinner consistency is desired.

Let the baked cinnamon rolls cool in the pan for about 5-10 minutes before spreading the cream cheese icing generously over them. This allows the rolls to absorb some of the warmth without melting the icing too quickly.

Serve warm and enjoy your homemade Raspberry Cinnamon Rolls!