In a large bowl, mix the flour, sugar, yeast, and salt until well combined.

In a saucepan, heat the milk and butter over low heat until warm but not boiling.

Add the warm milk mixture to the dry ingredients along with the eggs. Stir until a wet dough forms.

Knead the dough on a floured surface until smooth and elastic, about 5-7 minutes.

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

Roll out the dough into a large rectangle. Spread softened butter evenly over the surface, and then sprinkle with cinnamon, brown sugar, and raisins if using.

Starting from the long side, roll the dough tightly into a log. Slice into 12 rolls.

Place the rolls in a greased baking dish, cover, and let them rise again for about 30 minutes.

Bake in a preheated oven at 350°F (175°C) for 20-25 minutes until golden brown.

In a separate bowl, mix powdered sugar with milk to create a smooth icing. Drizzle over the warm rolls and enjoy!