In the bowl of a stand mixer fitted with a whisk attachment, mix the melted butter (cooled, <110°F), warm non-dairy milk (<110°F), and granulated sugar. Sprinkle over the yeast and lightly mix in. Let sit for 10 minutes until slightly foamy on top (this means the yeast has bloomed). 

Add the flour, cinnamon, and salt. Switch to a paddle attachment and mix until ingredients are fully incorporated. Replace the paddle attachment with a dough hook. Mix on medium speed for 3-5 minutes or until dough is smooth and stretchy. It should not be sticky. Add a tbsp of flour at a time, if dough is too sticky. Add raisins and mix for 1 minute more until fully incorporated.

Coat a large mixing bowl with neutral-flavored oil. Place dough inside and cover with towel or plastic wrap. I recommend a warm damp towel. Place in the oven with oven light on. Let rise for 1 hour.

Grease a muffin pan with cooking spray. Once dough is done rising, punch dough down. Pat dough into a ~9 x 5–inch rectangle. Using a bench scraper or knife, cut the dough into ~96 pieces. It doesn't need to be exact, this step will just make it easier to take a piece of dough and roll it. Alternatively, you can tear off dough as you go. Roll each dough piece into a ball.

Melt butter in a medium bowl. Combine brown sugar and cinnamon sugar in a separate larger bowl. Coat each dough ball in melted butter then roll in cinnamon-sugar mixture. Add 6-8 dough pieces into each muffin cup to fill them. 

Cover the pan with a damp warm towel, and let the muffins proof for 30 to 45 minutes, or until they are risen and puffy.

Preheat the oven to 350°F. Once risen, put the muffin pan on a baking sheet, and bake the muffins for 20-25 minutes or until golden brown.

Prepare the vanilla glaze. In a small bowl, whisk together powdered sugar, milk, and vanilla extract. Once muffins have slightly cooled, remove and drizzle with icing. The muffins will fall apart, but that's okay! Just enjoy with a fork.