In a large mixing bowl, whisk together the flour, sugar, instant yeast, salt and cloves.

In a separate bowl, combine the warm milk, melted butter, eggs and orange zest.

Add the wet ingredients to the dry ingredients and start kneading. Knead until the dough is smooth and elastic, about 7-10 minutes by hand (or 3-4 minutes on medium-low speed of a stand mixer). The dough will look sticky; don't add more flour. It will absorb the liquid as it rests. This is key to moist, tender cinnamon rolls.

Place the dough in a greased bowl, cover with plastic wrap, and let it rise in a warm place for about 30-45 minutes to rest and hydrate.

In a bowl, mix together the brown sugar and cinnamon.

Roll the dough out into a 12x16-inch rectangle on a floured surface.

Spread the softened butter over the rolled out dough, and then sprinkle the brown sugar-cinnamon mixture evenly on top. Sprinkle the raisins evenly overtop.

Roll the dough tightly, starting from the long edge, and cut into 8 even slices.

Cover the slices with plastic wrap and let them rise again for about 2 hours, or until doubled in size (see overnight option in notes).

Preheat the oven to 350°F (175°C).

Just before baking, pour the 1/4 cup of milk into the bottom of a greased 9x13-inch baking pan. Place the risen rolls in the pan.

Remove the plastic wrap and bake for 30-40 minutes. Cover with foil or parchment after 20 minutes to prevent them getting too dark. Bake until golden brown and they 190ºF internal temperature around the outer parts of the buns (the middle of the pan will continue baking with carryover cooking).

In a bowl, beat together the cream cheese, butter, powdered sugar, vanilla, and a pinch of salt until smooth.

Allow the rolls to cool slightly before spreading the frosting on top.