In a large bowl, whisk together the warm milk, yeast, and sugar. Let it sit for 5–10 minutes until foamy. Stir in the egg and melted butter. Add flour and salt and mix until a shaggy dough forms. Knead (by hand or stand mixer) for 8–10 minutes until smooth, soft, and slightly tacky. Place the dough in a greased bowl, cover, and let rise for 1 to 1.5 hours or until doubled in size.

While the dough rises, cream together the softened butter and powdered sugar until fluffy. Add the egg yolk, almond flour, almond extract, and a pinch of salt. Mix until smooth and set aside.

Roll the risen dough into a 14x10 inch (35x25 cm) rectangle on a lightly floured surface. Spread the frangipane evenly over the dough, then dollop the raspberry jam on top. Gently swirl the jam with a butter knife or back of a spoon. Sprinkle in a few fresh raspberries if using. Roll the dough up tightly from the long side, then slice into 9 even rolls.

Place the rolls in a greased 8x8-inch (20x20 cm) baking dish. Cover and let rise for about 45 minutes until puffy. Meanwhile, preheat your oven to 350°F (175°C).

Bake for 25–30 minutes, or until lightly golden on top and the centers are set. Let them cool for about 10 minutes before glazing.

Whisk together powdered sugar, milk, and vanilla bean paste until smooth and pourable. Drizzle over the warm rolls and finish with a scattering of sliced almonds. A little extra powdered sugar on top never hurts.