Preheat over to 350. Whisk together milk and orange juice. Add butter and microwave on high for 1 minute. Stir, then microwave 20 seconds at a time, stirring between each, until butter is just melted. Set aside.
In a medium bowl whisk together flour, sugar, and salt.
In the bowl of a stand mixer fitted with the dough hook attachment, add yeast and lukewarm milk mixture and stir to combine. Add the flour mixture and egg, and beat on medium-low speed until combined. If the dough is sticking to the sides of the bowl, add the remaining flour, 1/4 cup at a time, until the dough begins to form a ball and pulls away from the sides of the bowl. Continue beating for 5 minutes on medium-low speed. Remove the dough hook and cover the bowl with a damp towel and let rest for 10 minutes.
After dough has rested for 10 minutes, roll it out on a floured surface into a 9x14 inch rectangle.
Prepare the filling by whisking together sugar, orange zest, and orange juice. Spread the butter onto the dough, coating evenly (I just do this by hand but you could also use a rubber spatula).
Sprinkle sugar mixture evenly over butter. Roll the dough tightly into a log (roll the long sides together). Carefully cut into 11-12 equal sized pieces. Place each piece into a pie pie dish or a casserole dish. Cover with a damp cloth and allow to rise for 20 minutes in a warm place. Bake for 15-20 minutes until rolls are golden.
To prepare the icing, mix together cream cheese and butter until fluffy. Add raspberries, vanilla, and orange juice and mix until smooth. Gradually mix in powdered sugar until desired consistency is reached. When rolls are done baking, top with icing. Serve warm.