Coat a Bundt pan or an 8-inch square baking pan with cooking spray. Sprinkle raisins in bottom of pan. Arrange rolls over raisins.
Combine milk and remaining 4 ingredients in a 2-cup glass measure. Microwave at HIGH 2 minutes, stirring every 30 seconds until sugar dissolves. Pour over rolls. Cover with plastic wrap; let rise in a warm place (85°), free from drafts, 45 minutes or until doubled in size.
Preheat oven to 375°.
Bake at 375° for 18 to 20 minutes or until golden. Run a knife around outside edges of pan. Place a plate upside down on top of pan; invert onto plate.