In a bowl, combine warm milk, sugar, and yeast. Let it sit for 5-10 minutes until frothy.
Add melted butter, eggs, and salt to the mixture; stir well.
Gradually add flour, mixing until a dough forms.
Knead the dough on a floured surface for about 5-7 minutes until smooth.
Place the dough in a greased bowl, cover, and let rise for 1 hour until doubled in size.
In a separate bowl, mix brown sugar and cinnamon for the filling.
Roll out the dough into a rectangle about 1/4 inch thick.
Spread the filling evenly over the dough, adding raisins if desired.
Roll the dough tightly into a log and slice into 12 equal pieces.
Place the rolls in a greased baking dish, cover, and let rise for another 30 minutes.
Bake in a preheated oven at 350°F (175°C) for 25-30 minutes until golden brown.