Preheat oven to 375 degrees. Prepare a 12-cup muffin tin with cooking spray.
Mix the flour, sugar, baking powder, baking soda and salt together in a large bowl.
Whisk the sour cream, milk, egg, vanilla, and raspberry extract together in a separate bowl.
Mix the wet ingredients with the dry ingredients and stir gently to combine.
Add the melted butter and stir well.
Roll raspberries in flour to coat. Remove from flour and gently fold raspberries into batter.
Divide evenly among prepared muffin cups.
Bake approx. 25 minutes or until muffins are light golden brown.
Prepare icing by combining ingredients and mixing until smooth.
Remove muffins from oven; cool in pan 10 minutes, then remove from pan and top with icing.