Cinnamon Rolls

Name: Cinnamon Rolls
Prep time: 2 h 10 min
Cook time: 2 h 10 min
Total time: 4 h 20 min
Cuisine: American
Ingredients: 2 1/2 teaspoons active dry yeast*; 1/2 cup warm water; 1/2 cup whole milk (, warmed); 1/4 cup granulated sugar (+ 1/2 teaspoon, divided); 1/3 cup butter (, slightly melted); 1 teaspoon salt; 1 large egg (, room temperature); 3 1/2-4 cups bread flour (, or all-purpose); 6 Tablespoons melted butter; 2/3 cup packed light brown sugar; 2 Tablespoons ground cinnamon; 3/4 cup raisins (, chopped walnuts, or pecans (optional)); 4 Tablespoons butter (, softened); 2 cups powdered sugar; 1 teaspoon vanilla extract; 3-6 Tablespoons milk (, as needed)