Heat oven to 375°F. Spray 8 regular-size muffin cups with cooking spray.
Separate dough into 8 triangles. In small bowl, mix raisins and lemon peel. Spoon raisin mixture evenly on narrow end of each triangle. Roll up to enclose filling and pinch dough to form a ball; press seams to seal. Place buns, seam side down, in muffin cups.
Bake 11 to 12 minutes or until golden. Remove from pan to cooling rack; cool at least 20 minutes.
In small bowl, mix powdered sugar and milk (icing will be thick). Spoon icing into small resealable food-storage plastic bag. Cut off tiny corner of bag; squeeze bag to pipe icing in cross shape on top of each cooled bun.