Warm the milk until just lukewarm and stir in the yeast. Let it sit until foamy.
In a large bowl, combine flour, sugar, and salt. Add the yeast mixture, eggs, and softened butter.
Mix until a soft dough forms, then knead until smooth and elastic.
Place the dough in a lightly greased bowl, cover, and let rise until doubled in size.
Roll the risen dough into a rectangle on a lightly floured surface.
Spread the raspberry jam evenly over the dough, leaving a small border around the edges.
Roll the dough tightly into a log and pinch the seam to seal.
Place the dough seam-side down into a greased loaf pan.
Cover and let rise again until puffy.
Bake in a preheated oven at 350°F (175°C) until golden brown and cooked through.
Let the loaf cool before removing from the pan.
If using the glaze, whisk ingredients together and drizzle over the cooled loaf.