In a large mixing bowl, combine the warm milk and granulated sugar. Stir in the active dry yeast and let it sit for about 5-10 minutes until foamy.
In a stand mixer bowl, combine the flour and salt. Add the yeast mixture, melted butter, and eggs. Using the dough hook, mix on medium speed for about 5-7 minutes until a soft dough forms.
Transfer the dough to a greased bowl, cover with plastic wrap, and let it rise in a warm place for about 1 hour, or until doubled in size.
Once the dough has risen, punch it down and roll it out on a floured surface into a rectangle (about 16x12 inches).
Spread the softened butter for the filling evenly over the dough. In a small bowl, mix the brown sugar and cinnamon, then sprinkle it evenly over the buttered surface. Scatter the fresh raspberries on top.
Starting from one long edge, roll the dough tightly into a log. Cut the log into 12 equal pieces.
Place the rolls in a greased baking sheet lined with parchment paper, spacing them about an inch apart. Cover with plastic wrap and let them rise for another 30 minutes.
Preheat your oven to 350°F (175°C). Bake the rolls for 20-25 minutes, or until golden brown.
While the rolls are baking, prepare the lemon glaze by whisking together the powdered sugar, lemon juice, and lemon zest until smooth.
Once the rolls are finished baking, remove them from the oven and allow them to cool for a few minutes before drizzling the lemon glaze over the top.