In a large bowl, combine sugar, salt, yeast, and 1 cup flour. In a 2-quart saucepan over low heat, heat the milk and butter (or margarine) until very warm (about 120-130 degrees). The butter or margarine does not have to fully melt.

With an electric mixer at low speed, slowly add the wet ingredients into the dry ingredients. Beat on medium speed for 2 minutes, occasionally scraping bowl with a spatula.

Beat in egg and 1 cup flour, occasionally scraping the bowl. Continue to add in enough flour (up to 2 1/2 more cups) until a soft dough forms. Turn the dough out onto a lightly floured surface and knead for 10 minutes until smooth and elastic.

Shape into a ball and place in greased bowl. Cover with a towel and let rise for 1 hour in a warm place until doubled in size.

After an hour, punch down dough. Grease a 13 x 9 baking pan and set aside.

In a small bowl, combine the filling ingredients: brown sugar, pecans, raisins, and cinnamon and set aside.

Roll dough into 18 x 12 inch rectangle. Brush dough with melted butter or margarine. Sprinkle with the brown sugar filing mixture.

Starting at the long 18-inch side, roll dough jell-roll style and pinch the seam to seal it. Cut 15 slices and place each piece close together in the baking pan, on their side so you can see the inside of each piece. Cover and let rise until doubled for 40 minutes.

Preheat oven to 400 degrees. Bake for 25 minutes or until lightly golden brown. Cool slightly on wire rack.

While cooling, make the icing by combining Confectioner's sugar, vanilla and milk in a medium bowl. Drizzle over slightly cooled cinnamon rolls and serve.