To prepare dough, combine yeast, warm milk, and 1/4 cup warm water in a large bowl; let stand 5 minutes or until foamy. Stir butter and next 5 ingredients into yeast mixture. Weigh or lightly spoon flours into dry measuring cups; level with a knife. Add 9 ounces (about 2 cups) all-purpose flour and whole-wheat flour to yeast mixture, stirring until a soft dough forms. Turn dough out onto a floured surface. Knead 5 minutes or until smooth and elastic, adding remaining 1/2 cup all-purpose flour, 1 tablespoon at a time, to prevent dough from sticking to hands (dough will feel sticky). Place dough in a large bowl coated with cooking spray, turning to coat top. Cover and let rise in a warm place (85°), free from drafts, 1 hour or until doubled in size. (Gently press two fingers into dough. If indentation remains, dough has risen enough.) Punch down dough; roll into a 16 x 12inch rectangle on a floured surface. Coat surface of dough with cooking spray.
To prepare filling, combine brown sugar, cinnamon, and nutmeg; sprinkle over dough, leaving a 1/2-inch border. Sprinkle raisins over dough, pressing gently into dough. Tightly roll up rectangle, starting with a long edge, pressing firmly to eliminate air pockets; pinch seam to seal. Cut dough into 16 rolls. Place rolls, cut sides up, in a 13 x 9inch metal baking pan coated with cooking spray. Cover and let rise 45 minutes or until doubled in size.
Preheat oven to 375°.
Uncover rolls. Bake at 375° for 19 minutes or until lightly browned. Cool in pan on a wire rack.
To prepare glaze, place powdered sugar and vanilla in a small bowl. Add 5 teaspoons milk, 1 teaspoon at a time, stirring to form a thick glaze. Drizzle glaze evenly over rolls.