In a large mixing bowl, combine the flour, instant yeast, sugar, and salt. Mix well.
In another bowl, combine the warm milk, melted butter, and eggs. Whisk until fully combined.
Pour the milk mixture into the dry ingredients. Mix until a dough forms. Knead for about 5-7 minutes until smooth.
Place the dough in a greased bowl, cover with a cloth, and let it rise for 1 hour or until doubled in size.
Preheat the oven to 375°F (190°C) and line a baking sheet with parchment paper.
Once the dough has risen, roll it out on a lightly floured surface into a rectangle approximately 12x18 inches.
Spread the softened butter over the dough, then sprinkle the sugar and cinnamon evenly on top.
Scatter the raspberries over the cinnamon-sugar mixture.
Roll the dough tightly from the long side to form a log. Slice the log into 12 equal rolls.
Place the rolls on the prepared baking sheet and let them rise for another 30 minutes.
Bake in the preheated oven for 20-25 minutes or until golden brown.
While the rolls are baking, prepare the lemon glaze by mixing powdered sugar, lemon juice, and lemon zest in a bowl. Add milk to reach desired consistency.
Allow the rolls to cool for about 10 minutes before drizzling the lemon glaze on top.