In a bowl, combine warm milk and sugar. Sprinkle yeast over the top. Let it sit for about 5 minutes until foamy.

In a mixing bowl, add flour and salt. Make a well in the center and pour in the yeast mixture, followed by melted butter and the egg. Mix until combined.

Transfer the dough to a floured surface and knead for about 5-7 minutes until smooth and elastic.

Place the dough in a greased bowl, cover it with a cloth, and let it rise in a warm place for about 1 hour or until doubled in size.

In a small bowl, mix brown sugar and cinnamon. If using raisins, toss them in as well.

After the dough has risen, punch it down and roll it out on a floured surface into a rectangle (about 12×18 inches).

Spread the cinnamon mixture evenly over the dough, leaving a small border. Roll it up tightly into a log.

Slice the log into 12 equal rolls and place them in a greased baking dish.

Cover the rolls and let them rise again for about 30 minutes until they puff up.

Preheat your oven to 350°F (175°C) and bake for 25-30 minutes until golden brown.

Mix icing sugar and milk in a small bowl until smooth. Drizzle over warm rolls before serving.