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