Heat the milk in a saucepan until warm, then stir in sugar and melted butter until dissolved.

Sprinkle the yeast over the warm milk mixture and let it sit for 5 minutes until foamy.

In a large mixing bowl, whisk together eggs, vanilla extract, ground cinnamon, and salt. Add the yeast mixture and stir until combined.

Gradually add 4 cups of flour, stirring until a soft dough forms. Add more flour if the dough is too sticky.

Turn the dough onto a floured surface and knead for 5-7 minutes until smooth and elastic.

Place the dough in a greased bowl, cover with a towel, and let it rise in a warm place for 1-2 hours until doubled in size.

While the dough rises, prepare the filling by mixing brown sugar, ground cinnamon, chopped pecans, raisins, and softened butter in a bowl.

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

Spread the filling mixture evenly over the rolled-out dough, leaving a small border around the edges.

Roll the dough tightly from one long side into a log, pinch the edges to seal, and shape it into a circle on a greased baking sheet.

Cover the shaped cake with a towel and let it rise again for 30-45 minutes until puffy.

Preheat the oven to 350°F (175°C).

Bake the cake for 25-30 minutes until golden brown. Let it cool on a wire rack.

Prepare the icing by whisking together powdered sugar, milk, and vanilla extract until smooth.

Once the cake is cool, drizzle the icing over the top and sprinkle with colored sugars.