In a bowl, combine warm milk, yeast, and a pinch of sugar. Let sit 5–10 minutes until foamy.
In a large bowl, mix flour, sugar, and salt.
Add yeast mixture, egg, melted butter, and vanilla. Mix until a soft dough forms.
Knead for 8–10 minutes until smooth and elastic.
Place in a greased bowl, cover, and let rise for 1 hour or until doubled.
Roll dough into a rectangle (about ¼-inch thick).
Spread raspberry jam evenly over the surface.
Roll tightly into a log and slice into 9–12 rolls.
Place in a greased baking dish and let rise for 30 minutes.
Bake at 350°F (175°C) for 20–25 minutes until golden.
Mix powdered sugar with milk to make glaze and drizzle over warm rolls.