Stir together first 5 ingredients in a large bowl; cover and let rise in a warm place, 1 1/2 hours. Combine sugar and cinnamon. After dough has risen, turn out onto a well floured surface; divide in half. Roll one portion into 18x12 rectangle. Brush with butter; sprinkle with half of sugar mixture. If you are using raisins and pecans, put them on top of sugar mixture. Roll up starting at the long end. Cut into 10 or more 2 inch slices. Place rolls side up into a lightly greased 9x13 pan. Repeat procedure with the remaining rectangle. Cover and chill overnight. Remove from refrigerator 30 minutes before placing in the oven. Preheat oven to 350. Bake 20 to 30 minutes or until golden. Cool slightly. Stir together powdered sugar, milk and vanilla; drizzle over rolls. Sprinkle with pecans if desired. Serve.