Start by warming the milk in a small saucepan until it bubbles, then remove it from the heat. Let it cool until it is lukewarm. I just heat mine until lukewarm in the microwave.
Then, dissolve the yeast in warm water, and then set aside until the yeast is frothy
In a large mixing bowl or the bowl of a Kitchen Aid mixer, combine the eggs, sugar, butter, salt, cinnamon, and raisins. Then, stir in the warm milk and yeast mixture.
Gradually, add in the flour until the dough cleans the side of the bowl, but is still a bit sticky. I usually have a circle about an inch across on the bottom of my mixer where the dough still clings to the bowl.
Knead the dough on a lightly floured surface (or in the mixer!) for 5 minutes.
Place the dough in a large, greased mixing bowl, and then rotate it in the bowl to grease all surfaces of the dough. Then, cover with a damp cloth. Allow the dough to rise until it is doubled in size. My kitchen is usually too cool to have the dough rise on the counter, so I turn the oven on for about 30 seconds, turn it off and let the dough rise in there.
Divide the dough in half, then roll the dough out on a lightly floured surface into 2 large rectangles about ½ inch thick. Brush the dough with 2 tablespoons of milk.
In a small bowl, mix together 3/4 cup sugar and 2 tablespoons cinnamon, and then sprinkle the mixture on top of the moistened dough.
Roll it up tightly; the roll should be about 3 inches in diameter. Pinch the seams as best as you can. Tuck the ends of each loaf under, if desired. (It's not necessary but does look prettier!)
Place loaves into well greased 9 x 5 inch pans. Let rise again for 1 hour.
Bake at 350 degrees for 15 minutes, then place a piece of foil over the top. Don't worry about tucking the edges under or anything, you are just preventing the top from browning too much, so just lay it over the top.
Bake for an additional 30 minutes or until the loaves are lightly browned and sound hollow when knocked.
Remove the loaves from the pans, and brush with melted butter. Let cool before slicing. Enjoy!
Whisk together 1 cup powdered sugar with 1-2 TBSP hot water. Drizzle glaze on top of each loaf. Let cool to set.