Preheat oven to 350 degrees F. Line a baking sheet with parchment paper and set aside.
In a medium bowl beat together the cream cheese, sugar, lemon zest and lemon juice until smooth and creamy. Fold in the raspberries.
Unroll the tube of crescent dough and spread the cream cheese mixture over the dough, leaving 1/2 inch edge clean around. Starting at the long edge, roll up the dough into a tight tube. Use a serrated knife to cut 12 equal size discs.
Arrange the discs in an overlapping, circular pattern on the prepared baking sheet. Bake for 20 to 25 minutes, or until golden brown.
For the Icing:
Mix the powdered sugar and milk together until smooth. Drizzle over the warm danish rolls. Enjoy!