Make the cinnamon rolls. Add the warmed milk, yeast, and sugar to a large bowl. Set aside until the yeast has bloomed/bubbled -- about 5 minutes.

Next, add the melted butter, egg, vanilla extract, and lemon zest to the bowl of a stand mixer. Mix to combine.

Once the yeast has bloomed, add it to the stand mixer and mix to combine.

Using a stand mixer on low-medium speed with the dough hook attachment, slowly stir the flour and salt into the wet ingredients. Once all of the flour has been added and a shaggy dough has formed, knead for 2-3 minutes or until the dough is smooth and elastic (it should bounce back when you poke it).

Transfer the dough to a lightly oiled bowl and cover it with plastic wrap and then a tea towel. Place it in a warm place to rise until doubled in size - about 1-⅕ hours. While the dough rises, you can make the filling and cook the raspberries.

Make the raspberry filling. Add the raspberries, sugar, and lemon juice to a small pot. Bring to a boil, stirring often. Reduce heat to a gentle boil and continue to stir often. Cook for about 10 minutes. The raspberry sauce should thicken. Refrigerate to cool.

Make the icing by placing all ingredients into a bowl, starting with 2 cups of powdered sugar. Mix to combine. If the icing is too thick, add another tablespoon of lemon juice. If it is too thin, add another ¼ cup of powdered sugar. Cover with plastic wrap and set aside.

Assemble the rolls. Once the dough has risen for 1 to 1.5 hours, turn it out onto a lightly floured surface.

Roll it into a rectangle that is approximately 18” long, 12” wide, and ¼” thick.

Spread the cooled raspberry sauce evenly over the rolled-out dough. Then roll into a tight log, starting at one of the long sides.

Slice the log into 1” rolls. This will yield about 12 rolls, depending on how tightly you roll your log and whether you start rolling at a long or short side of the dough.

Butter a 9x13-inch baking dish or line it with parchment paper. Add the rolls to the dish, making sure they just barely touch.

If you’re making the rolls in advance, wrap them in plastic and place them in the fridge for up to 12 hours. Bring the rolls to room temperature (about 30 minutes) when you’re ready to bake, and then skip to step 14.

If you aren’t making the rolls in advance, cover them with plastic wrap and place in a warm spot to rise until the rolls begin to touch. About 30 minutes. While the rolls rise, preheat your oven to 350℉.

Bake for 18-22 minutes (depending on your oven) or until the centers are set, be sure not to over-bake.

Allow the rolls to cool for 10 minutes before icing.