Preheat oven to 375 degrees F. Grease an 8x1-1/2- or 9x1-1/2-inch round baking pan; set aside. Unroll dough (do not separate); press perforations to seal. Brush dough with melted butter. In a small bowl, stir together the granulated sugar and cinnamon; sprinkle over dough.
Stir and heat raspberries, cornstarch, brown sugar, and cinnamon in small saucepan and let it boil for 5-6 minutes to thicken. Remove from heat and set aside to cool to room temperature before spreading on crescent rolls.
Cut dough crosswise into 1-inch strips. Fold each strip in half, end to end, and twist several times. Arrange twists 2 inches apart on prepared baking sheets.
Bake for about 10-15 minutes or until golden brown. Remove and cool rolls slightly in pan on a wire rack. Remove from pan. In a small bowl, stir together powdered sugar, vanilla, and enough orange juice or milk to make an icing of drizzling consistency. Drizzle over warm rolls. Serve warm.