1 pkg. active dry yeast
1/2 c. warm water (110 to 115 degrees)
1 c. milk
3 tbsp. sugar
1 tsp. salt
1/4 c. cooking oil
4 to 4 1/2 c. all-purpose flour
1/4 c. butter, melted
3/4 to 1 c. packed brown sugar
1 to 2 tsp. ground cinnamon
1/4 c. raisins (optional)
1/4 c. chopped pecans (optional)
1 c. sifted confectioners' sugar
1/4 tsp. vanilla
1 to 2 tbsp. water

Soften yeast in warm water. Heat milk, sugar, salt, and oil until warm (115 to 120 degrees). Pour into a large mixing bowl and add yeast mixture. Stir in as much flour as you can. Turn dough out onto a lightly floured surface. Knead in enough remaining flour to make a moderately soft dough that is smooth and elastic. Shape into a ball in a greased bowl; turn once. Cover and let rise in a warm place until double in size (about 1 hour). Punch down and turn onto a floured surface. Cover; let rise 10 minutes.

Roll dough on a lightly floured surface into an 18 x 12 inch rectangle. Spread melted butter over dough. Combine brown sugar and cinnamon. Add raisins and nuts, if desired. Sprinkle sugar mixture over dough. Roll up from one of the long sides and seal. Slice into 12 pieces and place, cut sides down, in a greased baking pan. Cover and let rise in a warm place for 30 minutes until double in size. Bake at 350 degrees for 20 to 30 minutes. Remove from pan.

ICING:

Confectioners' sugar
Vanilla
Water

Combine sugar, vanilla, and water to make a drizzle. Drizzle over warm rolls.