In a small mixing bowl, whisk together the yeast, 1 teaspoon sugar, and 1/2 cup warm water. Set aside in a warm place, where it will bubble and rise.
Cream (or mix) together 2/3 cup sugar with the softened butter in a large mixing bowl.
Beat in the eggs, one at a time.
Add the yeast mixture to the butter mixture, along with an additional 1 1/2 cups warm water.
Sift the flour and salt together in a separate large bowl.
Gradually add the flour mixture into the wet ingredients, and mix well. For this step, I like to use the dough hook on my stand mixer.
Turn the dough into a large greased bowl or stockpot, and let it rise to the top or almost to the top (may take 2 to 3 hours). Keep the bowl or pan covered.
Once the dough has risen, grease a 9x13 baking dish and an 8x8 baking dish.
Turn the dough out onto a floured surface. Coat generously with flour by turning and shaping. No kneading is necessary. Roll the dough out to the desired thickness, about 1/2 inch or more. Brush the melted butter onto the dough.
In a small bowl, whisk together the cinnamon and sugar.
Sprinkle the cinnamon/sugar mixture all over the buttered dough, and sprinkle on the raisins.
Somewhat tightly, roll the dough into a long, thick roll.
Then slice it into approximately 1-inch wide pieces.
Place the cinnamon rolls, face up, into the greased pans, and let the rolls rise for 2-3 hours.
Once the rolls have risen, pre-heat the oven to 350° F.
Bake the rolls at 350° F for about 10 to 15 minutes; then cover with foil, and bake an additional 10 to 15 minutes. This allows the middle to cook thru without burning the tops.
To make the icing, mix together the softened butter and vanilla extract in a large mixing bowl.
Add the milk to the mixture.
Then slowly mix in the powdered sugar. You want the icing to be thin enough to brush onto the cinnamon rolls.
Once the cinnamon rolls are baked, remove them from the oven, and let them cool for about 5 minutes. Keep the rolls in the pan.
Brush the icing onto the tops of the cinnamon rolls, and serve them immediately.