In a large bowl, combine the warm milk, yeast, and a teaspoon of sugar. Let sit for 5–10 minutes until foamy.
Add the remaining sugar, butter, egg, salt, and flour. Mix until a soft dough forms, then knead for 8–10 minutes until smooth and elastic.
Place the dough in a lightly greased bowl, cover, and let it rise for about 1–1½ hours, or until doubled in size.
Meanwhile, combine the raspberries, raspberry jam, sugar, and cornstarch in a saucepan. Cook over medium heat until thickened, then let cool completely.
Roll the risen dough into a large rectangle about ¼-inch thick.
Spread the cooled raspberry filling evenly over the dough, leaving a small border around the edges.
Starting from the long side, roll the dough tightly into a log and cut into 12 equal rolls.
Arrange the rolls in a greased 9x13-inch baking dish. Cover and let rise for 30–45 minutes.
Bake at 350°F (175°C) for 25–30 minutes, or until the tops are lightly golden.
Beat together the cream cheese, butter, powdered sugar, vanilla, and milk until smooth.
Spread the frosting over the warm rolls and serve.