Combine yeast and 1/2 cup warm water in a large mixing bowl; let stand 5 minutes. Add warm milk and next 5 ingredients. Beat at medium speed with an electric mixer until blended.
Combine flour and cinnamon, and gradually add to yeast mixture, beating at medium speed for 2 minutes. Stir in raisins.
Place dough in a well-greased bowl, turning to grease top.
Cover and let rise in a warm place (85°), free from drafts, 2 hours or until doubled in bulk.
Punch dough down; cover and let rise in a warm place (85°), free from drafts, 30 minutes.
Turn dough out onto a well-floured surface, and roll to 1/2-inch thickness. Cut with a 2-inch round cutter.
Place on a lightly greased 15- x 10-inch jellyroll pan. Cover and let rise in a warm place (85°), free from drafts, 45 minutes or until doubled in bulk.
Bake, uncovered, at 350° for 20 to 25 minutes or until lightly browned. Let rolls cool 10 minutes. Pipe Sugar Glaze over rolls in an "X" shape.