In a large mixing bowl, combine flour, sugar, and salt.

In a separate bowl, mix warm milk with active dry yeast and let sit for 5 minutes until frothy.

Add melted butter, egg, and vanilla extract to the yeast mixture and stir to combine.

Pour the yeast mixture into the dry ingredients and mix until a dough forms.

Knead the dough on a floured surface for 5-7 minutes until smooth and elastic.

Place the dough in a greased bowl, cover with a cloth, and let rise in a warm place for 1 hour or until doubled in size.

While the dough is rising, prepare the filling by mixing brown sugar, cinnamon, and softened butter in a small bowl. Add pecans and raisins if desired.

Once the dough has risen, punch it down and roll it out into a rectangle about 1/4 inch thick.

Spread the filling mixture evenly over the dough, then roll it tightly from one long side to the other to form a log.

Cut the log into 1-inch thick pieces and place them cut-side up in a greased muffin tin.

Cover the muffin tin with a cloth and let the mini king cakes rise for another 30 minutes.

Preheat the oven to 350°F (175°C). Bake the mini king cakes for 15-20 minutes or until golden brown.

While the cakes are cooling, prepare the glaze by whisking together powdered sugar, milk, and vanilla extract until smooth.

Drizzle the glaze over the warm mini king cakes and sprinkle with colored sugar sprinkles.