Preheat oven to 375. Combine milk and butter in a microwave-safe container. Place in microwave and set to HIGH for 20 seconds. Milk should be warm to the touch. NOT HOT! Pour yeast packet into a mixing bowl. Add milk and butter mixture and stir. Let sit for 5 minutes until the mixture begins to bubble(activate). Meanwhile, combine dry ingredients in a small mixing bowl. Add dry ingredients and then egg to yeast mixture. Stir until just combined. The dough will be sticky. Grease a large bowl and your hands and lift the dough into the greased bowl. Cover and let rest for 20 minutes. Meanwhile, combine sugars and cinnamon for filling. When the dough is ready-roll out into a 1" thickness and a 15"x 10" rectangle on a floured surface. Spread butter over the dough evenly. Sprinkle the sugar/cinnamon mixture over the butter. Sprinkle with the raisins. Roll dough with fingers towards you, creating a long tube shape. Pinch seams together. Using a sharp knife cut the dough into 12 even rolls. Place rolls into a greased 9x13 pan. Cover and let rise in a warm place for 30 minutes. Meanwhile, combine ingredients for frosting and beat until smooth. When rolls are double in size place them in the oven and bake for 15-20 minutes or until golden brown. Remove from oven and let cool completely before frosting.