Grease a 9×13 inch baking pan and set aside.,In a small saucepan, heat milk and butter over medium-low until butter melts and milk is warm; remove from heat.,In a stand mixer bowl, combine 2 cups flour, yeast, sugar, and salt; mix briefly.,Add egg and warm milk mixture; mix to combine.,Switch to dough hook, gradually add remaining flour one tablespoon at a time until dough pulls from bowl sides.,Knead dough for 5 minutes until smooth and elastic.,Place dough on floured surface, cover with towel, and rest 10 minutes.,Mix softened cream cheese, 3 tablespoons sugar, and vanilla until smooth.,In a separate bowl, gently fold raspberries, remaining 2 tablespoons sugar, cornstarch, and lemon zest.,Roll dough into 12×14 inch rectangle.,Spread cream cheese filling over dough, leaving edges clear; sprinkle raspberry mixture on top.,Roll dough from long side into a log; seal edges.,Cut log into 12 equal slices; place in prepared pan snugly.,Cover and let rise 40-60 minutes until doubled.,Preheat oven to 350°F (175°C).,Bake rolls 20-25 minutes until golden brown.,Mix powdered sugar, melted butter, vanilla, and milk to make glaze.,Remove rolls from oven, cool 2 minutes, then drizzle glaze over warm rolls.