In a large bowl, whisk together 3 1/2 cups flour, yeast, and salt.
Then, add in the dairy free milk and maple syrup.
Using a spatula, fold until mostly combined. Sprinkle a little more flour if needed to not be sticky and form a ball.
Once ball is formed, grease the same bowl mixed in and place the dough ball back into the bowl. *If you are oil free, then just make sure sides of bowl are floured, or use a silicone bowl to easily get it out
Cover with a towel or plastic wrap and let sit for 60-90 minutes in a warm, draft free place until doubled.
Once doubled in size, pull out the dough and lay it out on a lightly floured surface.
Using a rolling pin, roll dough into an approximately 17×25″ rectangle that is 1/4″ thick.
In a bowl, add the raspberries, both sugars, and lemon zest together. Then spoon the mixture evenly over the dough.
Carefully roll cinnamon rolls into log from the longest side up. One completely rolled, place seam side down. Cut into even sized pieces - 9 for larger cinnamon rolls or more for smaller ones.
Place into a greased baking dish and cover. Heat oven to 150 degrees, turn off and place covered dish inside to rise for 45-60 minutes.
Remove from oven and let oven preheat to 350 degrees F.
Once heated, place dish back inside and bake in oven for 30-35 minutes.
Remove and top with homemade dairy free frosting. Best served warm.