In a large bowl (the bowl for your stand mixer if using) add the yeast, 1 Tablespoon of sugar and warm water and whisk gently to combine. Allow to sit for 5-10 minutes until the mixture is foamy.
Add the remaining sugar, flour, salt, milk, butter and egg and knead using the dough hook on low speed, or by hand for about 10 minutes, or until the dough forms a soft ball that springs back when lightly pressed. The dough will be reasonably sticky but you should be able to handle it, so add slightly more flour if you need. Transfer into a large clean bowl and cover in gladwrap or a clean tea towel and put in a warm place to rise for 1 hour or until almost doubled in size.
Tip the dough out of the bowl onto a lightly floured surface and gently roll out into a rectangle that is 45cm x 25cm (approx).
Combine the sugar and cinnamon in a small bowl. Spread the softened butter all over the dough and sprinkle with the cinnamon sugar mixture and raisins if using.
With the longest edge close to you, tightly roll the dough up into a roll, pinching the edge slightly to seal.
Using a sharp knife, slice into 10 pieces and place in a well greased baking dish leaving about 1cm gap between each roll.
Cover the baking dish in gladwrap or the same tea towel and leave in a warm place to rise again for 30 minutes while the oven is heating.
Pre-heat the oven to 180°C and bake for 15-20 minutes, checking after 12 minutes and covering with tinfoil if they are already looking brown on top. Remove from the oven and allow to cool slightly before glazing and eating. If you are not eating the rolls immediately, skip the glaze step, cover the rolls and store at room temperature overnight or in the fridge for a couple of days until you are ready to use them. Heat through in the oven when you are ready to eat and then glaze them.
Mix all ingredients together in a small jug and pour over hot cinnamon rolls.
Cinnamon rolls are best eaten the same day. They will keep covered for a couple of days but will need to be warmed first.