Activate yeast: In a large bowl, combine the warm milk, yeast, and sugar. Let stand for 5-10 minutes, until foamy.
Add remaining dough ingredients: Add the melted butter, eggs, flour, and salt to the yeast mixture. Mix until a shaggy dough forms.
Knead dough: Turn the dough out onto a lightly floured surface and knead for 5-7 minutes, until smooth and elastic.
First rise: Place the dough in a lightly oiled bowl, turning to coat. Cover with plastic wrap or a clean kitchen towel and let rise in a warm place for 1-2 hours, or until doubled in size.
Prepare filling: While the dough is rising, prepare the filling. In a medium bowl, combine the raspberries, granulated sugar, softened butter, and cinnamon. Gently mash the raspberries with a fork.
Assemble rolls: Once the dough has doubled, punch it down to release the air. On a lightly floured surface, roll the dough into a rectangle about 12x18 inches. Spread the raspberry filling evenly over the dough.
Roll up dough: Starting from the long edge, tightly roll up the dough into a log.
Cut rolls: Cut the log into 9-12 rolls, about 1-2 inches thick.
Second rise: Place the rolls in a greased 9x13 inch baking dish (or a round cake pan). Cover and let rise for another 30-45 minutes, or until puffy.
Preheat oven: Preheat oven to 375°F (190°C).
Bake: Bake for 20-25 minutes, or until golden brown.
Make glaze: While the rolls are baking, prepare the glaze. In a small bowl, whisk together the powdered sugar, milk, and vanilla extract until smooth and creamy.
Drizzle with glaze: Let the rolls cool slightly before drizzling with the glaze. Serve warm.